hpp::fcl::CollisionResult Struct Reference

collision result More...

#include <hpp/fcl/collision_data.h>

Public Member Functions
	CollisionResult ()
void	updateDistanceLowerBound (const FCL_REAL &distance_lower_bound_)
	Update the lower bound only if the distance in 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	getContacts (std::vector< Contact > &contacts_) const
	get all the contacts More...
void	clear ()
	clear the results obtained More...

Public Attributes
Vec3f	cached_gjk_guess
FCL_REAL	distance_lower_bound

Friends
void	invertResults (CollisionResult &result)
	reposition Contact objects when fcl inverts them during their construction. 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()

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

updateDistanceLowerBound()

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

inline

Update the lower bound only if the distance in inferior.

Friends And Related Function Documentation

invertResults

void invertResults ( CollisionResult &  result )

friend

reposition Contact objects when fcl inverts them during their construction.

Member Data Documentation

cached_gjk_guess

Vec3f hpp::fcl::CollisionResult::cached_gjk_guess

distance_lower_bound

FCL_REAL hpp::fcl::CollisionResult::distance_lower_bound

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

Note

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

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

• include/hpp/fcl/collision_data.h