coal::ComputeCollision Class Reference

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...

#include <collision.h>

Public Member Functions
	ComputeCollision (const CollisionGeometry *o1, const CollisionGeometry *o2)
	Default constructor from two Collision Geometries. More...
bool	operator!= (const ComputeCollision &other) const
std::size_t	operator() (const Transform3s &tf1, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result) const
bool	operator== (const ComputeCollision &other) const
virtual	~ComputeCollision ()

Protected Member Functions
virtual std::size_t	run (const Transform3s &tf1, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result) const

Protected Attributes
CollisionFunctionMatrix::CollisionFunc	func
const CollisionGeometry *	o1
const CollisionGeometry *	o2
GJKSolver	solver
bool	swap_geoms

Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeCollision calc_collision (o1, o2);
std::size_t ncontacts = calc_collision(tf1, tf2, request, result);

Definition at line 78 of file coal/collision.h.

Constructor & Destructor Documentation

ComputeCollision()

coal::ComputeCollision::ComputeCollision	(	const CollisionGeometry *	o1,
		const CollisionGeometry *	o2
	)

Default constructor from two Collision Geometries.

Definition at line 131 of file src/collision.cpp.

~ComputeCollision()

virtual coal::ComputeCollision::~ComputeCollision ( )

inlinevirtual

Definition at line 95 of file coal/collision.h.

Member Function Documentation

operator!=()

bool coal::ComputeCollision::operator!= ( const ComputeCollision &  other ) const

inline

Definition at line 91 of file coal/collision.h.

operator()()

std::size_t coal::ComputeCollision::operator()	(	const Transform3s &	tf1,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)		const

Definition at line 186 of file src/collision.cpp.

operator==()

bool coal::ComputeCollision::operator== ( const ComputeCollision &  other ) const

inline

Definition at line 87 of file coal/collision.h.

run()

std::size_t coal::ComputeCollision::run ( const Transform3s &  tf1, const Transform3s &  tf2, const CollisionRequest &  request, CollisionResult &  result  ) const

protectedvirtual

Definition at line 159 of file src/collision.cpp.

Member Data Documentation

func

CollisionFunctionMatrix::CollisionFunc coal::ComputeCollision::func

protected

Definition at line 107 of file coal/collision.h.

o1

const CollisionGeometry* coal::ComputeCollision::o1

mutableprotected

Definition at line 95 of file coal/collision.h.

o2

const CollisionGeometry* coal::ComputeCollision::o2

mutableprotected

Definition at line 103 of file coal/collision.h.

solver

GJKSolver coal::ComputeCollision::solver

mutableprotected

Definition at line 105 of file coal/collision.h.

swap_geoms

bool coal::ComputeCollision::swap_geoms

protected

Definition at line 108 of file coal/collision.h.

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The documentation for this class was generated from the following files:

• coal/collision.h
• src/collision.cpp