hpp::fcl::DistanceRequest Struct Reference
request to the distance computation More...
#include <hpp/fcl/collision_data.h>
Inheritance diagram for hpp::fcl::DistanceRequest:
Collaboration diagram for hpp::fcl::DistanceRequest:
Public Member Functions | |
| DistanceRequest (bool enable_nearest_points_=false, FCL_REAL rel_err_=0.0, FCL_REAL abs_err_=0.0) | |
| bool | isSatisfied (const DistanceResult &result) const |
| bool | operator== (const DistanceRequest &other) const |
| whether two DistanceRequest 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 | |
| bool | enable_nearest_points |
| whether to return the nearest points More... | |
| FCL_REAL | rel_err |
| error threshold for approximate distance More... | |
| FCL_REAL | abs_err |
| 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 distance computation
Constructor & Destructor Documentation
◆ DistanceRequest()
|
inline |
- Parameters
-
enable_nearest_points_ enables the nearest points computation. rel_err_ abs_err_
Member Function Documentation
◆ isSatisfied()
| bool hpp::fcl::DistanceRequest::isSatisfied | ( | const DistanceResult & | result | ) | const |
◆ operator==()
|
inline |
whether two DistanceRequest are the same or not
Member Data Documentation
◆ abs_err
| FCL_REAL hpp::fcl::DistanceRequest::abs_err |
◆ enable_nearest_points
| bool hpp::fcl::DistanceRequest::enable_nearest_points |
whether to return the nearest points
◆ rel_err
| FCL_REAL hpp::fcl::DistanceRequest::rel_err |
error threshold for approximate distance
The documentation for this struct was generated from the following file:
- include/hpp/fcl/collision_data.h
