Public Member Functions | Public Attributes | List of all members
fcl::CollisionRequest Struct Reference

request to the collision algorithm More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for fcl::CollisionRequest:
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Public Member Functions

 CollisionRequest (size_t num_max_contacts_=1, bool enable_contact_=false, bool enable_distance_lower_bound_=false, size_t num_max_cost_sources_=1, bool enable_cost_=false, bool use_approximate_cost_=true, GJKSolverType gjk_solver_type_=GST_LIBCCD)
 
bool isSatisfied (const CollisionResult &result) const
 

Public Attributes

size_t num_max_contacts
 The maximum number of contacts will return. More...
 
bool enable_contact
 whether the contact information (normal, penetration depth and contact position) will return More...
 
bool enable_distance_lower_bound
 Whether a lower bound on distance is returned when objects are disjoint. More...
 
size_t num_max_cost_sources
 The maximum number of cost sources will return. More...
 
bool enable_cost
 whether the cost sources will be computed More...
 
bool use_approximate_cost
 whether the cost computation is approximated More...
 
GJKSolverType gjk_solver_type
 narrow phase solver More...
 
bool enable_cached_gjk_guess
 whether enable gjk intial guess More...
 
Vec3f cached_gjk_guess
 the gjk intial guess set by user More...
 

Detailed Description

request to the collision algorithm

Constructor & Destructor Documentation

◆ CollisionRequest()

fcl::CollisionRequest::CollisionRequest ( size_t  num_max_contacts_ = 1,
bool  enable_contact_ = false,
bool  enable_distance_lower_bound_ = false,
size_t  num_max_cost_sources_ = 1,
bool  enable_cost_ = false,
bool  use_approximate_cost_ = true,
GJKSolverType  gjk_solver_type_ = GST_LIBCCD 
)
inline

Member Function Documentation

◆ isSatisfied()

bool fcl::CollisionRequest::isSatisfied ( const CollisionResult result) const

Member Data Documentation

◆ cached_gjk_guess

Vec3f fcl::CollisionRequest::cached_gjk_guess

the gjk intial guess set by user

◆ enable_cached_gjk_guess

bool fcl::CollisionRequest::enable_cached_gjk_guess

whether enable gjk intial guess

◆ enable_contact

bool fcl::CollisionRequest::enable_contact

◆ enable_cost

bool fcl::CollisionRequest::enable_cost

◆ enable_distance_lower_bound

bool fcl::CollisionRequest::enable_distance_lower_bound

Whether a lower bound on distance is returned when objects are disjoint.

◆ gjk_solver_type

GJKSolverType fcl::CollisionRequest::gjk_solver_type

narrow phase solver

◆ num_max_contacts

size_t fcl::CollisionRequest::num_max_contacts

◆ num_max_cost_sources

size_t fcl::CollisionRequest::num_max_cost_sources

◆ use_approximate_cost

bool fcl::CollisionRequest::use_approximate_cost

whether the cost computation is approximated