coal
3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...
#include <coal/collision.h>
Public Member Functions | |
ComputeCollision (const CollisionGeometry *o1, const CollisionGeometry *o2) | |
Default constructor from two Collision Geometries. More... | |
std::size_t | operator() (const Transform3s &tf1, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result) const |
bool | operator== (const ComputeCollision &other) const |
bool | operator!= (const ComputeCollision &other) const |
virtual | ~ComputeCollision () |
Protected Member Functions | |
virtual std::size_t | run (const Transform3s &tf1, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result) const |
Protected Attributes | |
const CollisionGeometry * | o1 |
const CollisionGeometry * | o2 |
GJKSolver | solver |
CollisionFunctionMatrix::CollisionFunc | func |
bool | swap_geoms |
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.
coal::ComputeCollision::ComputeCollision | ( | const CollisionGeometry * | o1, |
const CollisionGeometry * | o2 | ||
) |
Default constructor from two Collision Geometries.
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std::size_t coal::ComputeCollision::operator() | ( | const Transform3s & | tf1, |
const Transform3s & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) | const |
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inline |
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