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

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

#include <coal/contact_patch.h>

Collaboration diagram for coal::ComputeContactPatch:

Public Member Functions

 ComputeContactPatch (const CollisionGeometry *o1, const CollisionGeometry *o2)
 Default constructor from two Collision Geometries. More...
 
void operator() (const Transform3s &tf1, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) const
 
bool operator== (const ComputeContactPatch &other) const
 
bool operator!= (const ComputeContactPatch &other) const
 
virtual ~ComputeContactPatch ()=default
 

Protected Member Functions

virtual void run (const Transform3s &tf1, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) const
 

Protected Attributes

const CollisionGeometryo1
 
const CollisionGeometryo2
 
ContactPatchSolver csolver
 
ContactPatchFunctionMatrix::ContactPatchFunc func
 
bool swap_geoms
 

Detailed Description

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

Note
This needs to be called after collide or after ComputeCollision.
ComputeContactPatch calc_patch (o1, o2);
calc_patch(tf1, tf2, collision_result, patch_request, patch_result);
const CollisionGeometry * o1
Definition: contact_patch.h:103
ComputeContactPatch(const CollisionGeometry *o1, const CollisionGeometry *o2)
Default constructor from two Collision Geometries.
const CollisionGeometry * o2
Definition: contact_patch.h:104

Constructor & Destructor Documentation

◆ ComputeContactPatch()

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

Default constructor from two Collision Geometries.

◆ ~ComputeContactPatch()

virtual coal::ComputeContactPatch::~ComputeContactPatch ( )
virtualdefault

Member Function Documentation

◆ operator!=()

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

◆ operator()()

void coal::ComputeContactPatch::operator() ( const Transform3s tf1,
const Transform3s tf2,
const CollisionResult collision_result,
const ContactPatchRequest request,
ContactPatchResult result 
) const

◆ operator==()

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

◆ run()

virtual void coal::ComputeContactPatch::run ( const Transform3s tf1,
const Transform3s tf2,
const CollisionResult collision_result,
const ContactPatchRequest request,
ContactPatchResult result 
) const
protectedvirtual

Member Data Documentation

◆ csolver

ContactPatchSolver coal::ComputeContactPatch::csolver
mutableprotected

◆ func

ContactPatchFunctionMatrix::ContactPatchFunc coal::ComputeContactPatch::func
protected

◆ o1

const CollisionGeometry* coal::ComputeContactPatch::o1
mutableprotected

◆ o2

const CollisionGeometry* coal::ComputeContactPatch::o2
mutableprotected

◆ swap_geoms

bool coal::ComputeContactPatch::swap_geoms
protected

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