request to the collision algorithm More...

#include <hpp/fcl/collision_data.h>

Public Member Functions
	CollisionRequest (size_t num_max_contacts_, bool enable_contact_=false, bool enable_distance_lower_bound_=false, size_t num_max_cost_sources_=1, bool enable_cost_=false, bool use_approximate_cost_=true)

	CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_)

	CollisionRequest ()

bool	isSatisfied (const CollisionResult &result) const

Public Attributes
size_t	num_max_contacts
	The maximum number of contacts will return. 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...

bool	enable_cached_gjk_guess
	whether enable gjk intial guess More...

Vec3f	cached_gjk_guess
	the gjk intial guess set by user More...

FCL_REAL	security_margin
	Distance below which objects are considered in collision. More...

FCL_REAL	break_distance
	Distance below which bounding volumes are broken down. More...

Detailed Description

request to the collision algorithm

Constructor & Destructor Documentation

◆ CollisionRequest() [1/3]

hpp::fcl::CollisionRequest::CollisionRequest	(	size_t	num_max_contacts_,
		bool	enable_contact_ = `false`,
		bool	enable_distance_lower_bound_ = `false`,
		size_t	num_max_cost_sources_ = `1`,
		bool	enable_cost_ = `false`,
		bool	use_approximate_cost_ = `true`
	)

explicit

◆ CollisionRequest() [2/3]

hpp::fcl::CollisionRequest::CollisionRequest	(	const CollisionRequestFlag	flag,
		size_t	num_max_contacts_
	)

inlineexplicit

◆ CollisionRequest() [3/3]

hpp::fcl::CollisionRequest::CollisionRequest ( )

inline

Member Function Documentation

◆ isSatisfied()

bool hpp::fcl::CollisionRequest::isSatisfied ( const CollisionResult & result ) const

Member Data Documentation

◆ break_distance

FCL_REAL hpp::fcl::CollisionRequest::break_distance

Distance below which bounding volumes are broken down.

See Collision detection and distance lower bound

◆ cached_gjk_guess

Vec3f hpp::fcl::CollisionRequest::cached_gjk_guess

the gjk intial guess set by user

◆ enable_cached_gjk_guess

bool hpp::fcl::CollisionRequest::enable_cached_gjk_guess

whether enable gjk intial guess

◆ enable_contact

bool hpp::fcl::CollisionRequest::enable_contact

whether the contact information (normal, penetration depth and contact position) will return

◆ enable_distance_lower_bound

bool hpp::fcl::CollisionRequest::enable_distance_lower_bound

Whether a lower bound on distance is returned when objects are disjoint.

◆ num_max_contacts

size_t hpp::fcl::CollisionRequest::num_max_contacts

The maximum number of contacts will return.

◆ security_margin

FCL_REAL hpp::fcl::CollisionRequest::security_margin

Distance below which objects are considered in collision.