39 #ifndef HPP_FCL_COLLISION_DATA_H
40 #define HPP_FCL_COLLISION_DATA_H
87 static const int NONE = -1;
109 penetration_depth(depth_)
115 return b2 < other.
b2;
116 return b1 < other.
b1;
121 return o1 == other.
o1
132 return !(*
this == other);
154 enable_cached_gjk_guess (false),
155 cached_gjk_guess (1,0,0),
157 enable_timings(false)
185 : cached_gjk_guess(
Vec3f::Zero())
240 num_max_contacts(num_max_contacts_),
241 enable_contact(flag &
CONTACT),
244 break_distance (1e-3),
245 distance_upper_bound ((std::numeric_limits<
FCL_REAL>::max)())
252 enable_contact(false),
253 enable_distance_lower_bound (false),
255 break_distance (1e-3),
256 distance_upper_bound ((std::numeric_limits<
FCL_REAL>::max)())
280 std::vector<Contact> contacts;
291 : distance_lower_bound ((std::numeric_limits<
FCL_REAL>::max)())
298 if (distance_lower_bound_ < distance_lower_bound)
299 distance_lower_bound = distance_lower_bound_;
305 contacts.push_back(c);
311 return contacts == other.contacts
318 return contacts.size() > 0;
324 return contacts.size();
330 if(contacts.size() == 0)
331 throw std::invalid_argument(
"The number of contacts is zero. No Contact can be returned.");
333 if(i < contacts.size())
336 return contacts.back();
342 contacts_.resize(contacts.size());
343 std::copy(contacts.begin(), contacts.end(), contacts_.begin());
354 distance_lower_bound = (std::numeric_limits<FCL_REAL>::max)();
356 distance_lower_bound = (std::numeric_limits<FCL_REAL>::max)();
383 enable_nearest_points(enable_nearest_points_),
435 static const int NONE = -1;
438 (std::numeric_limits<FCL_REAL>::max)()):
439 min_distance(min_distance_), o1(NULL), o2(NULL), b1(NONE), b2(NONE)
441 const Vec3f nan (Vec3f::Constant(std::numeric_limits<FCL_REAL>::quiet_NaN()));
442 nearest_points [0] = nearest_points [1] = normal = nan;
471 nearest_points[0] = p1;
472 nearest_points[1] = p2;
483 o1 = other_result.
o1;
484 o2 = other_result.
o2;
485 b1 = other_result.
b1;
486 b2 = other_result.
b2;
489 normal = other_result.
normal;
496 const Vec3f nan (Vec3f::Constant(std::numeric_limits<FCL_REAL>::quiet_NaN()));
497 min_distance = (std::numeric_limits<FCL_REAL>::max)();
502 nearest_points [0] = nearest_points [1] = normal = nan;
519 if ((o1 != NULL) ^ (other.
o1 != NULL))
return false;
520 is_same &= (o1 == other.
o1);
523 if ((o2 != NULL) ^ (other.
o2 != NULL))
return false;
524 is_same &= (o2 == other.
o2);
The geometry for the object for collision or distance computation.
Definition: collision_object.h:67
#define HPP_FCL_DLLAPI
Definition: config.hh:64
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
CollisionRequestFlag operator&(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:538
CollisionRequestFlag & operator^=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:550
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
CollisionRequestFlag & operator&=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:547
CollisionRequestFlag operator~(CollisionRequestFlag a)
Definition: collision_data.h:532
CollisionRequestFlag
flag declaration for specifying required params in CollisionResult
Definition: collision_data.h:202
@ NO_REQUEST
Definition: collision_data.h:205
@ DISTANCE_LOWER_BOUND
Definition: collision_data.h:204
@ CONTACT
Definition: collision_data.h:203
CollisionRequestFlag operator^(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:541
CollisionRequestFlag operator|(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:535
double FCL_REAL
Definition: data_types.h:66
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:73
CollisionRequestFlag & operator|=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:544
Main namespace.
Definition: AABB.h:44
request to the collision algorithm
Definition: collision_data.h:210
size_t num_max_contacts
The maximum number of contacts will return.
Definition: collision_data.h:212
bool enable_distance_lower_bound
Whether a lower bound on distance is returned when objects are disjoint.
Definition: collision_data.h:218
FCL_REAL distance_upper_bound
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points w...
Definition: collision_data.h:232
CollisionRequest(const CollisionRequestFlag flag, size_t num_max_contacts_)
Constructor from a flag and a maximal number of contacts.
Definition: collision_data.h:239
FCL_REAL security_margin
Distance below which objects are considered in collision. See Collision detection and distance lower ...
Definition: collision_data.h:222
bool enable_contact
whether the contact information (normal, penetration depth and contact position) will return
Definition: collision_data.h:215
bool isSatisfied(const CollisionResult &result) const
CollisionRequest()
Default constructor.
Definition: collision_data.h:250
FCL_REAL break_distance
Distance below which bounding volumes are broken down. See Collision detection and distance lower bou...
Definition: collision_data.h:226
collision result
Definition: collision_data.h:277
void clear()
clear the results obtained
Definition: collision_data.h:352
void updateDistanceLowerBound(const FCL_REAL &distance_lower_bound_)
Update the lower bound only if the distance is inferior.
Definition: collision_data.h:296
void addContact(const Contact &c)
add one contact into result structure
Definition: collision_data.h:303
const Contact & getContact(size_t i) const
get the i-th contact calculated
Definition: collision_data.h:328
bool isCollision() const
return binary collision result
Definition: collision_data.h:316
const std::vector< Contact > & getContacts() const
Definition: collision_data.h:346
void getContacts(std::vector< Contact > &contacts_) const
get all the contacts
Definition: collision_data.h:340
FCL_REAL distance_lower_bound
Definition: collision_data.h:287
CollisionResult()
Definition: collision_data.h:290
size_t numContacts() const
number of contacts found
Definition: collision_data.h:322
void swapObjects()
reposition Contact objects when fcl inverts them during their construction.
request to the distance computation
Definition: collision_data.h:369
bool enable_nearest_points
whether to return the nearest points
Definition: collision_data.h:371
FCL_REAL rel_err
error threshold for approximate distance
Definition: collision_data.h:374
DistanceRequest(bool enable_nearest_points_=false, FCL_REAL rel_err_=0.0, FCL_REAL abs_err_=0.0)
Definition: collision_data.h:380
bool isSatisfied(const DistanceResult &result) const
FCL_REAL abs_err
Definition: collision_data.h:375
distance result
Definition: collision_data.h:403
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:420
DistanceResult(FCL_REAL min_distance_=(std::numeric_limits< FCL_REAL >::max)())
Definition: collision_data.h:437
void update(FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
add distance information into the result
Definition: collision_data.h:447
void update(const DistanceResult &other_result)
add distance information into the result
Definition: collision_data.h:478
Vec3f normal
In case both objects are in collision, store the normal.
Definition: collision_data.h:414
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:417
void update(FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &p1, const Vec3f &p2, const Vec3f &normal_)
add distance information into the result
Definition: collision_data.h:460
int b2
information about the nearest point in object 2 if object 2 is mesh or point cloud,...
Definition: collision_data.h:432
Vec3f nearest_points[2]
nearest points
Definition: collision_data.h:411
int b1
information about the nearest point in object 1 if object 1 is mesh or point cloud,...
Definition: collision_data.h:426
void clear()
clear the result
Definition: collision_data.h:494
FCL_REAL min_distance
minimum distance between two objects. if two objects are in collision, min_distance <= 0.
Definition: collision_data.h:408
base class for all query requests
Definition: collision_data.h:140
Vec3f cached_gjk_guess
the gjk initial guess set by user
Definition: collision_data.h:145
bool operator==(const QueryRequest &other) const
whether two QueryRequest are the same or not
Definition: collision_data.h:163
support_func_guess_t cached_support_func_guess
the support function initial guess set by user
Definition: collision_data.h:148
QueryRequest()
Definition: collision_data.h:153
void updateGuess(const QueryResult &result)
Definition: collision_data.h:190
bool enable_timings
enable timings when performing collision/distance request
Definition: collision_data.h:151
bool enable_cached_gjk_guess
whether enable gjk initial guess
Definition: collision_data.h:142
base class for all query results
Definition: collision_data.h:174
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:179
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:176
QueryResult()
Definition: collision_data.h:184
CPUTimes timings
timings for the given request
Definition: collision_data.h:182