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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request to the distance computation More...
#include <coal/collision_data.h>
Public Member Functions | |
DistanceRequest (bool enable_nearest_points_=true, bool enable_signed_distance_=true, Scalar rel_err_=0.0, Scalar abs_err_=0.0) | |
bool | isSatisfied (const DistanceResult &result) const |
DistanceRequest & | operator= (const DistanceRequest &other)=default |
bool | operator== (const DistanceRequest &other) const |
whether two DistanceRequest are the same or not More... | |
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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 | |
bool | enable_nearest_points |
whether to return the nearest points. Nearest points are always computed and are the points of the shapes that achieve a distance of DistanceResult::min_distance . More... | |
bool | enable_signed_distance |
whether to compute the penetration depth when objects are in collision. Turning this off can save computation time if only the distance when objects are disjoint is needed. More... | |
Scalar | rel_err |
error threshold for approximate distance More... | |
Scalar | abs_err |
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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... | |
request to the distance computation
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inline |
enable_nearest_points_ | enables the nearest points computation. |
enable_signed_distance_ | allows to compute the penetration depth |
rel_err_ | |
abs_err_ |
bool coal::DistanceRequest::isSatisfied | ( | const DistanceResult & | result | ) | const |
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default |
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inline |
whether two DistanceRequest are the same or not
Scalar coal::DistanceRequest::abs_err |
bool coal::DistanceRequest::enable_nearest_points |
whether to return the nearest points. Nearest points are always computed and are the points of the shapes that achieve a distance of DistanceResult::min_distance
.
bool coal::DistanceRequest::enable_signed_distance |
whether to compute the penetration depth when objects are in collision. Turning this off can save computation time if only the distance when objects are disjoint is needed.
DistanceResult::min_distance
. If enable_signed_distance
is off, DistanceResult::min_distance
is always positive. If enable_signed_distance
is on, DistanceResult::min_distance
can be positive or negative. The nearest points are the points of the shapes that achieve a distance of DistanceResult::min_distance
. Scalar coal::DistanceRequest::rel_err |
error threshold for approximate distance