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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base class for all query requests More...
#include <coal/collision_data.h>
Public Member Functions | |
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 | |
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... | |
base class for all query requests
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inline |
Default constructor.
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default |
Copy constructor.
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default |
Copy assignment operator.
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inline |
whether two QueryRequest are the same or not
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inline |
Updates the guess for the internal GJK algorithm in order to warm-start it when reusing this collision request on the same collision pair.
gjk_initial_guess
must be set to GJKInitialGuess::CachedGuess
for this to work.
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mutable |
the gjk initial guess set by user
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mutable |
the support function initial guess set by user
Scalar coal::QueryRequest::collision_distance_threshold |
threshold below which a collision is considered.
bool coal::QueryRequest::enable_cached_gjk_guess |
whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead
bool coal::QueryRequest::enable_timings |
enable timings when performing collision/distance request
size_t coal::QueryRequest::epa_max_iterations |
max number of iterations for EPA
Scalar coal::QueryRequest::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.
GJKConvergenceCriterion coal::QueryRequest::gjk_convergence_criterion |
convergence criterion used to stop GJK
GJKConvergenceCriterionType coal::QueryRequest::gjk_convergence_criterion_type |
convergence criterion used to stop GJK
GJKInitialGuess coal::QueryRequest::gjk_initial_guess |
size_t coal::QueryRequest::gjk_max_iterations |
maximum iteration for the GJK algorithm
Scalar coal::QueryRequest::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 coal::QueryRequest::gjk_variant |
whether to enable the Nesterov accleration of GJK