coal::DistanceRequest Struct Reference

request to the distance computation More...

#include <coal/collision_data.h>

Inheritance diagram for coal::DistanceRequest:

Collaboration diagram for coal::DistanceRequest:

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
Public Member Functions inherited from coal::QueryRequest
	QueryRequest ()
	Default constructor.
	QueryRequest (const QueryRequest &other)=default
	Copy constructor.
QueryRequest &	operator= (const QueryRequest &other)=default
	Copy assignment operator.
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.
bool	operator== (const QueryRequest &other) const
	whether two QueryRequest are the same or not

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.
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.
Scalar	rel_err
	error threshold for approximate distance
Scalar	abs_err
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
Vec3s	cached_gjk_guess
	the gjk initial guess set by user
support_func_guess_t	cached_support_func_guess
	the support function initial guess set by user
size_t	gjk_max_iterations
	maximum iteration for the GJK algorithm
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.
GJKVariant	gjk_variant
	whether to enable the Nesterov accleration of GJK
GJKConvergenceCriterion	gjk_convergence_criterion
	convergence criterion used to stop GJK
GJKConvergenceCriterionType	gjk_convergence_criterion_type
	convergence criterion used to stop GJK
size_t	epa_max_iterations
	max number of iterations for EPA
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.
bool	enable_timings
	enable timings when performing collision/distance request
Scalar	collision_distance_threshold
	threshold below which a collision is considered.

Detailed Description

request to the distance computation

Constructor & Destructor Documentation

DistanceRequest()

coal::DistanceRequest::DistanceRequest ( bool  enable_nearest_points_ = true, bool  enable_signed_distance_ = true, Scalar  rel_err_ = 0.0, Scalar  abs_err_ = 0.0  )

inline

Parameters

enable_nearest_points_	enables the nearest points computation.
enable_signed_distance_	allows to compute the penetration depth
rel_err_
abs_err_

Member Function Documentation

isSatisfied()

bool coal::DistanceRequest::isSatisfied

(

const DistanceResult &

result

)

const

operator=()

DistanceRequest & coal::DistanceRequest::operator= ( const DistanceRequest &  other )

default

operator==()

bool coal::DistanceRequest::operator== ( const DistanceRequest &  other ) const

inline

whether two DistanceRequest are the same or not

Member Data Documentation

abs_err

Scalar coal::DistanceRequest::abs_err

enable_nearest_points

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.

enable_signed_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.

Note

The minimum distance between the shapes is stored in 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.

rel_err

Scalar coal::DistanceRequest::rel_err

error threshold for approximate distance

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

• include/coal/collision_data.h