hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
collision.h
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35 
39 #ifndef HPP_FCL_COLLISION_H
40 #define HPP_FCL_COLLISION_H
41 
42 #include <hpp/fcl/data_types.h>
43 #include <hpp/fcl/collision_object.h>
44 #include <hpp/fcl/collision_data.h>
45 
46 namespace hpp
47 {
48 namespace fcl
49 {
50 
55 std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
56  const CollisionRequest& request, CollisionResult& result);
57 
59 std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
60  const CollisionGeometry* o2, const Transform3f& tf2,
61  const CollisionRequest& request, CollisionResult& result);
62 }
63 
64 } // namespace hpp
65 
66 #endif
hpp
Main namespace.
Definition: AABB.h:43
collision_data.h
hpp::fcl::collide
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
collision_object.h
data_types.h