coal::CollisionRequest Struct Reference
request to the collision algorithm More...
#include <coal/collision_data.h>
Inheritance diagram for coal::CollisionRequest:
Collaboration diagram for coal::CollisionRequest:
Public Member Functions | |
| CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_) | |
| Constructor from a flag and a maximal number of contacts. More... | |
| CollisionRequest () | |
| Default constructor. More... | |
| bool | isSatisfied (const CollisionResult &result) const |
| bool | operator== (const CollisionRequest &other) const |
| whether two CollisionRequest are the same or not More... | |
 Public Member Functions inherited from coal::QueryRequest | |
| QueryRequest () | |
| Default constructor. More... | |
| QueryRequest (const QueryRequest &other)=default | |
| Copy constructor. More... | |
| QueryRequest & | operator= (const QueryRequest &other)=default |
| Copy assignment operator. More... | |
| void | updateGuess (const QueryResult &result) const |
| Updates the guess for the internal GJK algorithm in order to warm-start it when reusing this collision request on the same collision pair. More... | |
| bool | operator== (const QueryRequest &other) const |
| whether two QueryRequest are the same or not More... | |
Public Attributes | |
| size_t | num_max_contacts |
| The maximum number of contacts that can be returned. More... | |
| bool | enable_contact |
| whether the contact information (normal, penetration depth and contact position) will return. More... | |
| bool | enable_distance_lower_bound |
| Whether a lower bound on distance is returned when objects are disjoint. More... | |
| Scalar | security_margin |
| Distance below which objects are considered in collision. See Collision. More... | |
| Scalar | break_distance |
| Distance below which bounding volumes are broken down. See Collision. More... | |
| Scalar | distance_upper_bound |
| Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold. More... | |
| Public Attributes inherited from coal::QueryRequest | |
| GJKInitialGuess | gjk_initial_guess |
| bool | enable_cached_gjk_guess |
| whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead More... | |
| Vec3s | cached_gjk_guess |
| the gjk initial guess set by user More... | |
| support_func_guess_t | cached_support_func_guess |
| the support function initial guess set by user More... | |
| size_t | gjk_max_iterations |
| maximum iteration for the GJK algorithm More... | |
| Scalar | gjk_tolerance |
| tolerance for the GJK algorithm. Note: This tolerance determines the precision on the estimated distance between two geometries which are not in collision. It is recommended to not set this tolerance to less than 1e-6. More... | |
| GJKVariant | gjk_variant |
| whether to enable the Nesterov accleration of GJK More... | |
| GJKConvergenceCriterion | gjk_convergence_criterion |
| convergence criterion used to stop GJK More... | |
| GJKConvergenceCriterionType | gjk_convergence_criterion_type |
| convergence criterion used to stop GJK More... | |
| size_t | epa_max_iterations |
| max number of iterations for EPA More... | |
| Scalar | epa_tolerance |
| tolerance for EPA. Note: This tolerance determines the precision on the estimated distance between two geometries which are in collision. It is recommended to not set this tolerance to less than 1e-6. Also, setting EPA's tolerance to less than GJK's is not recommended. More... | |
| bool | enable_timings |
| enable timings when performing collision/distance request More... | |
| Scalar | collision_distance_threshold |
| threshold below which a collision is considered. More... | |
Detailed Description
request to the collision algorithm
Constructor & Destructor Documentation
◆ CollisionRequest() [1/2]
|
inline |
Constructor from a flag and a maximal number of contacts.
- Parameters
-
[in] flag Collision request flag [in] num_max_contacts Maximal number of allowed contacts
◆ CollisionRequest() [2/2]
|
inline |
Default constructor.
Member Function Documentation
◆ isSatisfied()
| bool coal::CollisionRequest::isSatisfied | ( | const CollisionResult & | result | ) | const |
◆ operator==()
|
inline |
whether two CollisionRequest are the same or not
Member Data Documentation
◆ break_distance
| Scalar coal::CollisionRequest::break_distance |
Distance below which bounding volumes are broken down. See Collision.
◆ distance_upper_bound
| Scalar coal::CollisionRequest::distance_upper_bound |
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold.
- Remarks
- Consequently, the closest points might be incorrect, but allows to save computational resources.
◆ enable_contact
| bool coal::CollisionRequest::enable_contact |
whether the contact information (normal, penetration depth and contact position) will return.
◆ enable_distance_lower_bound
| bool coal::CollisionRequest::enable_distance_lower_bound |
Whether a lower bound on distance is returned when objects are disjoint.
◆ num_max_contacts
| size_t coal::CollisionRequest::num_max_contacts |
The maximum number of contacts that can be returned.
◆ security_margin
| Scalar coal::CollisionRequest::security_margin |
Distance below which objects are considered in collision. See Collision.
- Note
- If set to -inf, the objects tested for collision are considered as collision free and no test is actually performed by functions coal::collide of class coal::ComputeCollision.
The documentation for this struct was generated from the following file:
- include/coal/collision_data.h
