coal::QueryRequest Struct Reference

base class for all query requests More...

#include <coal/collision_data.h>

Inheritance diagram for coal::QueryRequest:

Public Member Functions
	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
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

base class for all query requests

Constructor & Destructor Documentation

QueryRequest() [1/2]

coal::QueryRequest::QueryRequest ( )

inline

Default constructor.

QueryRequest() [2/2]

coal::QueryRequest::QueryRequest ( const QueryRequest &  other )

default

Copy constructor.

Member Function Documentation

operator=()

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

default

Copy assignment operator.

operator==()

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

inline

whether two QueryRequest are the same or not

updateGuess()

void coal::QueryRequest::updateGuess ( const QueryResult &  result ) const

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.

Note

The option gjk_initial_guess must be set to GJKInitialGuess::CachedGuess for this to work.

Member Data Documentation

cached_gjk_guess

Vec3s coal::QueryRequest::cached_gjk_guess

mutable

the gjk initial guess set by user

cached_support_func_guess

support_func_guess_t coal::QueryRequest::cached_support_func_guess

mutable

the support function initial guess set by user

collision_distance_threshold

Scalar coal::QueryRequest::collision_distance_threshold

threshold below which a collision is considered.

enable_cached_gjk_guess

bool coal::QueryRequest::enable_cached_gjk_guess

whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead

enable_timings

bool coal::QueryRequest::enable_timings

enable timings when performing collision/distance request

epa_max_iterations

size_t coal::QueryRequest::epa_max_iterations

max number of iterations for EPA

epa_tolerance

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.

gjk_convergence_criterion

GJKConvergenceCriterion coal::QueryRequest::gjk_convergence_criterion

convergence criterion used to stop GJK

gjk_convergence_criterion_type

GJKConvergenceCriterionType coal::QueryRequest::gjk_convergence_criterion_type

convergence criterion used to stop GJK

gjk_initial_guess

GJKInitialGuess coal::QueryRequest::gjk_initial_guess

gjk_max_iterations

size_t coal::QueryRequest::gjk_max_iterations

maximum iteration for the GJK algorithm

gjk_tolerance

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.

gjk_variant

GJKVariant coal::QueryRequest::gjk_variant

whether to enable the Nesterov accleration of GJK

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

• include/coal/collision_data.h