coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
coal::ComputeCollision Class Reference

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...

#include <coal/collision.h>

Collaboration diagram for coal::ComputeCollision:

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 CollisionGeometryo1
 
const CollisionGeometryo2
 
GJKSolver solver
 
CollisionFunctionMatrix::CollisionFunc func
 
bool swap_geoms
 

Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeCollision calc_collision (o1, o2);
std::size_t ncontacts = calc_collision(tf1, tf2, request, result);
const CollisionGeometry * o1
Definition: collision.h:95
const CollisionGeometry * o2
Definition: collision.h:103
ComputeCollision(const CollisionGeometry *o1, const CollisionGeometry *o2)
Default constructor from two Collision Geometries.

Constructor & Destructor Documentation

◆ ComputeCollision()

coal::ComputeCollision::ComputeCollision ( const CollisionGeometry o1,
const CollisionGeometry o2 
)

Default constructor from two Collision Geometries.

◆ ~ComputeCollision()

virtual coal::ComputeCollision::~ComputeCollision ( )
inlinevirtual

Member Function Documentation

◆ operator!=()

bool coal::ComputeCollision::operator!= ( const ComputeCollision other) const
inline

◆ operator()()

std::size_t coal::ComputeCollision::operator() ( const Transform3s tf1,
const Transform3s tf2,
const CollisionRequest request,
CollisionResult result 
) const

◆ operator==()

bool coal::ComputeCollision::operator== ( const ComputeCollision other) const
inline

◆ run()

virtual std::size_t coal::ComputeCollision::run ( const Transform3s tf1,
const Transform3s tf2,
const CollisionRequest request,
CollisionResult result 
) const
protectedvirtual

Member Data Documentation

◆ func

CollisionFunctionMatrix::CollisionFunc coal::ComputeCollision::func
protected

◆ o1

const CollisionGeometry* coal::ComputeCollision::o1
mutableprotected

◆ o2

const CollisionGeometry* coal::ComputeCollision::o2
mutableprotected

◆ solver

GJKSolver coal::ComputeCollision::solver
mutableprotected

◆ swap_geoms

bool coal::ComputeCollision::swap_geoms
protected

The documentation for this class was generated from the following file: