fcl::CollisionRequest Struct Reference

request to the collision algorithm More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for fcl::CollisionRequest:

Public Member Functions
	CollisionRequest (size_t num_max_contacts_=1, 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, GJKSolverType gjk_solver_type_=GST_LIBCCD)
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...
size_t	num_max_cost_sources
	The maximum number of cost sources will return. More...
bool	enable_cost
	whether the cost sources will be computed More...
bool	use_approximate_cost
	whether the cost computation is approximated More...
GJKSolverType	gjk_solver_type
	narrow phase solver More...
bool	enable_cached_gjk_guess
	whether enable gjk intial guess More...
Vec3f	cached_gjk_guess
	the gjk intial guess set by user More...

Detailed Description

request to the collision algorithm

Constructor & Destructor Documentation

fcl::CollisionRequest::CollisionRequest ( size_t  num_max_contacts_ = 1, 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, GJKSolverType  gjk_solver_type_ = GST_LIBCCD  )

inline

Member Function Documentation

bool fcl::CollisionRequest::isSatisfied

(

const CollisionResult &

result

)

const

Referenced by fcl::MeshCollisionTraversalNode< OBBRSS >::canStop(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::canStop().

Member Data Documentation

Vec3f fcl::CollisionRequest::cached_gjk_guess

the gjk intial guess set by user

bool fcl::CollisionRequest::enable_cached_gjk_guess

whether enable gjk intial guess

bool fcl::CollisionRequest::enable_contact

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

Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().

bool fcl::CollisionRequest::enable_cost

whether the cost sources will be computed

Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().

bool fcl::CollisionRequest::enable_distance_lower_bound

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

GJKSolverType fcl::CollisionRequest::gjk_solver_type

narrow phase solver

size_t fcl::CollisionRequest::num_max_contacts

The maximum number of contacts will return.

Referenced by fcl::MeshContinuousCollisionTraversalNode< BV >::canStop(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().

size_t fcl::CollisionRequest::num_max_cost_sources

The maximum number of cost sources will return.

Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().

bool fcl::CollisionRequest::use_approximate_cost

whether the cost computation is approximated