collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...

#include <hpp/fcl/collision_func_matrix.h>

Collaboration diagram for hpp::fcl::CollisionFunctionMatrix:

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Public Types
typedef std::size_t(*	CollisionFunc) (const CollisionGeometry o1, const Transform3f &tf1, const CollisionGeometry o2, const Transform3f &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	the uniform call interface for collision: for collision, we need know 1. More...

Public Member Functions
	CollisionFunctionMatrix ()

Public Attributes
CollisionFunc	collision_matrix [NODE_COUNT][NODE_COUNT]
	each item in the collision matrix is a function to handle collision between objects of type1 and type2 More...

Detailed Description

collision matrix stores the functions for collision between different types of objects and provides a uniform call interface

Member Typedef Documentation

◆ CollisionFunc

typedef std::size_t(* hpp::fcl::CollisionFunctionMatrix::CollisionFunc) (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)

the uniform call interface for collision: for collision, we need know 1.

two objects o1 and o2 and their configuration in world coordinate tf1 and tf2; 2. the solver for narrow phase collision, this is for the collision between geometric shapes; 3. the request setting for collision (e.g., whether need to return normal information, whether need to compute cost); 4. the structure to return collision result

Constructor & Destructor Documentation

◆ CollisionFunctionMatrix()

hpp::fcl::CollisionFunctionMatrix::CollisionFunctionMatrix ( )

Member Data Documentation

◆ collision_matrix

CollisionFunc hpp::fcl::CollisionFunctionMatrix::collision_matrix[NODE_COUNT][NODE_COUNT]

each item in the collision matrix is a function to handle collision between objects of type1 and type2

Public Types

Public Member Functions