fcl::CollisionRequest< S > Struct Template Reference

Parameters for performing collision request. More...

#include <collision_request.h>

Public Types
typedef Eigen::NumTraits< S >::Real	Real

Public Member Functions
	CollisionRequest (size_t num_max_contacts_=1, bool enable_contact_=false, size_t num_max_cost_sources_=1, bool enable_cost_=false, bool use_approximate_cost_=true, GJKSolverType gjk_solver_type_=GST_LIBCCD, Real gjk_tolerance_=1e-6)
	Default constructor. More...
bool	isSatisfied (const CollisionResult< S > &result) const

Public Attributes
Vector3< S >	cached_gjk_guess
	The initial guess to use in the GJK algorithm. More...
bool	enable_cached_gjk_guess
	If true, uses the provided initial guess for the GJK algorithm. More...
bool	enable_contact
	If true, contact information (e.g., normal, penetration depth, and contact position) will be returned. More...
bool	enable_cost
	If true, the cost sources will be computed. More...
GJKSolverType	gjk_solver_type
	Enumeration indicating the GJK solver implementation to use. More...
Real	gjk_tolerance {1e-6}
	Numerical tolerance to use in the GJK algorithm. NOTE: The default value is currently set as 1e-6 to provide backwards compatibility; historically it has been 1e-6. Future code should provide a value that is consistent with the precision of S. More...
size_t	num_max_contacts
	The maximum number of contacts that can be returned. More...
size_t	num_max_cost_sources
	The maximum number of cost sources that can be returned. More...
bool	use_approximate_cost
	If true, the cost computation is approximated (if computed). More...

Detailed Description

template<typename S>
struct fcl::CollisionRequest< S >

Parameters for performing collision request.

Definition at line 52 of file collision_request.h.

Member Typedef Documentation

Real

template<typename S >

typedef Eigen::NumTraits<S>::Real fcl::CollisionRequest< S >::Real

The underlying numerical representation of the request's scalar (e.g., float or double).

Definition at line 56 of file collision_request.h.

Constructor & Destructor Documentation

CollisionRequest()

template<typename S >

fcl::CollisionRequest< S >::CollisionRequest	(	size_t	num_max_contacts_ = 1,
		bool	enable_contact_ = false,
		size_t	num_max_cost_sources_ = 1,
		bool	enable_cost_ = false,
		bool	use_approximate_cost_ = true,
		GJKSolverType	gjk_solver_type_ = GST_LIBCCD,
		Real	gjk_tolerance_ = 1e-6
	)

Default constructor.

Definition at line 54 of file collision_request-inl.h.

Member Function Documentation

isSatisfied()

template<typename S >

bool fcl::CollisionRequest< S >::isSatisfied

(

const CollisionResult< S > &

result

)

const

Definition at line 77 of file collision_request-inl.h.

Member Data Documentation

cached_gjk_guess

template<typename S >

Vector3<S> fcl::CollisionRequest< S >::cached_gjk_guess

The initial guess to use in the GJK algorithm.

Definition at line 86 of file collision_request.h.

enable_cached_gjk_guess

template<typename S >

bool fcl::CollisionRequest< S >::enable_cached_gjk_guess

If true, uses the provided initial guess for the GJK algorithm.

Definition at line 83 of file collision_request.h.

enable_contact

template<typename S >

bool fcl::CollisionRequest< S >::enable_contact

If true, contact information (e.g., normal, penetration depth, and contact position) will be returned.

Definition at line 63 of file collision_request.h.

enable_cost

template<typename S >

bool fcl::CollisionRequest< S >::enable_cost

If true, the cost sources will be computed.

Definition at line 72 of file collision_request.h.

gjk_solver_type

template<typename S >

GJKSolverType fcl::CollisionRequest< S >::gjk_solver_type

Enumeration indicating the GJK solver implementation to use.

Definition at line 78 of file collision_request.h.

gjk_tolerance

template<typename S >

Real fcl::CollisionRequest< S >::gjk_tolerance {1e-6}

Numerical tolerance to use in the GJK algorithm. NOTE: The default value is currently set as 1e-6 to provide backwards compatibility; historically it has been 1e-6. Future code should provide a value that is consistent with the precision of S.

Definition at line 94 of file collision_request.h.

num_max_contacts

template<typename S >

size_t fcl::CollisionRequest< S >::num_max_contacts

The maximum number of contacts that can be returned.

Definition at line 59 of file collision_request.h.

num_max_cost_sources

template<typename S >

size_t fcl::CollisionRequest< S >::num_max_cost_sources

The maximum number of cost sources that can be returned.

Definition at line 69 of file collision_request.h.

use_approximate_cost

template<typename S >

bool fcl::CollisionRequest< S >::use_approximate_cost

If true, the cost computation is approximated (if computed).

Definition at line 75 of file collision_request.h.

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

• collision_request.h
• collision_request-inl.h