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 usefull for repeated shape-shape queries. More...
#include <coal/contact_patch.h>
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 CollisionGeometry * | o1 |
const CollisionGeometry * | o2 |
ContactPatchSolver | csolver |
ContactPatchFunctionMatrix::ContactPatchFunc | func |
bool | swap_geoms |
This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries.
collide
or after ComputeCollision
.coal::ComputeContactPatch::ComputeContactPatch | ( | const CollisionGeometry * | o1, |
const CollisionGeometry * | o2 | ||
) |
Default constructor from two Collision Geometries.
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virtualdefault |
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inline |
void coal::ComputeContactPatch::operator() | ( | const Transform3s & | tf1, |
const Transform3s & | tf2, | ||
const CollisionResult & | collision_result, | ||
const ContactPatchRequest & | request, | ||
ContactPatchResult & | result | ||
) | const |
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