hpp::fcl::CollisionRequest Struct Reference

request to the collision algorithm More...

#include <hpp/fcl/collision_data.h>

Inheritance diagram for hpp::fcl::CollisionRequest:

Collaboration diagram for hpp::fcl::CollisionRequest:

Public Member Functions
	CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_)
	Constructor from a flag and a maximal number of contacts. More...
	CollisionRequest ()
	Default constructor. More...
bool	isSatisfied (const CollisionResult &result) const
bool	operator== (const CollisionRequest &other) const
	whether two CollisionRequest are the same or not More...
Public Member Functions inherited from hpp::fcl::QueryRequest
	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)
bool	operator== (const QueryRequest &other) const
	whether two QueryRequest are the same or not More...

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...
FCL_REAL	security_margin
	Distance below which objects are considered in collision. See Collision. More...
FCL_REAL	break_distance
	Distance below which bounding volumes are broken down. See Collision. More...
FCL_REAL	distance_upper_bound
	Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold. More...
Public Attributes inherited from hpp::fcl::QueryRequest
GJKInitialGuess	gjk_initial_guess
bool	enable_cached_gjk_guess
	whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead 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...
FCL_REAL	gjk_tolerance
	tolerance for the GJK algorithm More...
size_t	gjk_max_iterations
	maximum iteration for the GJK algorithm More...
Vec3f	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...
bool	enable_timings
	enable timings when performing collision/distance request More...
FCL_REAL	collision_distance_threshold
	threshold below which a collision is considered. More...

Detailed Description

request to the collision algorithm

Constructor & Destructor Documentation

CollisionRequest() [1/2]

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

inline

Constructor from a flag and a maximal number of contacts.

Parameters

[in]	flag	Collision request flag
[in]	num_max_contacts	Maximal number of allowed contacts

CollisionRequest() [2/2]

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

inline

Default constructor.

Member Function Documentation

isSatisfied()

bool hpp::fcl::CollisionRequest::isSatisfied

(

const CollisionResult &

result

)

const

operator==()

bool hpp::fcl::CollisionRequest::operator== ( const CollisionRequest &  other ) const

inline

whether two CollisionRequest are the same or not

Member Data Documentation

break_distance

FCL_REAL hpp::fcl::CollisionRequest::break_distance

Distance below which bounding volumes are broken down. See Collision.

distance_upper_bound

FCL_REAL hpp::fcl::CollisionRequest::distance_upper_bound

Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold.

Remarks

Consequently, the closest points might be incorrect, but allows to save computational resources.

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. See Collision.

Note

If set to -inf, the objects tested for collision are considered as collision free and no test is actually performed by functions hpp::fcl::collide of class hpp::fcl::ComputeCollision.

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

• include/hpp/fcl/collision_data.h