hpp::fcl::CollisionRequest Struct Reference

request to the collision algorithm More...

#include <hpp/fcl/collision_data.h>

Public Member Functions
	CollisionRequest (size_t num_max_contacts_, 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) HPP_FCL_DEPRECATED
	CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_)
	CollisionRequest ()
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...
bool	enable_cached_gjk_guess
	whether enable gjk intial guess More...
Vec3f	cached_gjk_guess
	the gjk intial guess set by user More...
FCL_REAL	security_margin
	Distance below which objects are considered in collision. See Collision detection and distance lower bound. More...
FCL_REAL	break_distance
	Distance below which bounding volumes are broken down. See Collision detection and distance lower bound. More...

Detailed Description

request to the collision algorithm

Constructor & Destructor Documentation

CollisionRequest() [1/3]

hpp::fcl::CollisionRequest::CollisionRequest ( size_t  num_max_contacts_, 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  )

explicit

CollisionRequest() [2/3]

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

inlineexplicit

CollisionRequest() [3/3]

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

inline

Member Function Documentation

isSatisfied()

bool hpp::fcl::CollisionRequest::isSatisfied

(

const CollisionResult &

result

)

const

Member Data Documentation

break_distance

FCL_REAL hpp::fcl::CollisionRequest::break_distance

Distance below which bounding volumes are broken down. See Collision detection and distance lower bound.

cached_gjk_guess

Vec3f hpp::fcl::CollisionRequest::cached_gjk_guess

the gjk intial guess set by user

enable_cached_gjk_guess

bool hpp::fcl::CollisionRequest::enable_cached_gjk_guess

whether enable gjk intial guess

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 detection and distance lower bound.

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

• include/hpp/fcl/collision_data.h