hpp::fcl::CollisionResult Struct Reference

collision result More...

#include <hpp/fcl/collision_data.h>

Inheritance diagram for hpp::fcl::CollisionResult:

Collaboration diagram for hpp::fcl::CollisionResult:

Public Member Functions
	CollisionResult ()
void	updateDistanceLowerBound (const FCL_REAL &distance_lower_bound_)
	Update the lower bound only if the distance is inferior. More...
void	addContact (const Contact &c)
	add one contact into result structure More...
bool	operator== (const CollisionResult &other) const
	whether two CollisionResult are the same or not More...
bool	isCollision () const
	return binary collision result More...
size_t	numContacts () const
	number of contacts found More...
const Contact &	getContact (size_t i) const
	get the i-th contact calculated More...
void	setContact (size_t i, const Contact &c)
	set the i-th contact calculated More...
void	getContacts (std::vector< Contact > &contacts_) const
	get all the contacts More...
const std::vector< Contact > &	getContacts () const
void	clear ()
	clear the results obtained More...
void	swapObjects ()
	reposition Contact objects when fcl inverts them during their construction. More...
Public Member Functions inherited from hpp::fcl::QueryResult
	QueryResult ()

Public Attributes
FCL_REAL	distance_lower_bound
Vec3f	nearest_points [2]
	nearest points available only when distance_lower_bound is inferior to CollisionRequest::break_distance. More...
Public Attributes inherited from hpp::fcl::QueryResult
Vec3f	cached_gjk_guess
	stores the last GJK ray when relevant. More...
support_func_guess_t	cached_support_func_guess
	stores the last support function vertex index, when relevant. More...
CPUTimes	timings
	timings for the given request More...

Detailed Description

collision result

Constructor & Destructor Documentation

CollisionResult()

hpp::fcl::CollisionResult::CollisionResult ( )

inline

Member Function Documentation

addContact()

void hpp::fcl::CollisionResult::addContact ( const Contact &  c )

inline

add one contact into result structure

clear()

void hpp::fcl::CollisionResult::clear ( )

inline

clear the results obtained

getContact()

const Contact& hpp::fcl::CollisionResult::getContact ( size_t  i ) const

inline

get the i-th contact calculated

getContacts() [1/2]

const std::vector<Contact>& hpp::fcl::CollisionResult::getContacts ( ) const

inline

getContacts() [2/2]

void hpp::fcl::CollisionResult::getContacts ( std::vector< Contact > &  contacts_ ) const

inline

get all the contacts

isCollision()

bool hpp::fcl::CollisionResult::isCollision ( ) const

inline

return binary collision result

numContacts()

size_t hpp::fcl::CollisionResult::numContacts ( ) const

inline

number of contacts found

operator==()

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

inline

whether two CollisionResult are the same or not

setContact()

void hpp::fcl::CollisionResult::setContact ( size_t  i, const Contact &  c  )

inline

set the i-th contact calculated

swapObjects()

void hpp::fcl::CollisionResult::swapObjects

(

)

reposition Contact objects when fcl inverts them during their construction.

updateDistanceLowerBound()

void hpp::fcl::CollisionResult::updateDistanceLowerBound ( const FCL_REAL &  distance_lower_bound_ )

inline

Update the lower bound only if the distance is inferior.

Member Data Documentation

distance_lower_bound

FCL_REAL hpp::fcl::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint. See Collision

Note

computed only on request (or if it does not add any computational overhead).

nearest_points

Vec3f hpp::fcl::CollisionResult::nearest_points[2]

nearest points available only when distance_lower_bound is inferior to CollisionRequest::break_distance.

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

• include/hpp/fcl/collision_data.h