.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_collision.h:

Program Listing for File collision.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_collision.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/collision.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, Open Source Robotics Foundation
    *  Copyright (c) 2021, INRIA
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of Open Source Robotics Foundation nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef HPP_FCL_COLLISION_H
   #define HPP_FCL_COLLISION_H
   
   #include <hpp/fcl/data_types.h>
   #include <hpp/fcl/collision_object.h>
   #include <hpp/fcl/collision_data.h>
   #include <hpp/fcl/collision_func_matrix.h>
   #include <hpp/fcl/timings.h>
   
   namespace hpp {
   namespace fcl {
   
   HPP_FCL_DLLAPI std::size_t collide(const CollisionObject* o1,
                                      const CollisionObject* o2,
                                      const CollisionRequest& request,
                                      CollisionResult& result);
   
   HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1,
                                      const Transform3f& tf1,
                                      const CollisionGeometry* o2,
                                      const Transform3f& tf2,
                                      const CollisionRequest& request,
                                      CollisionResult& result);
   
   inline std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                              CollisionRequest& request, CollisionResult& result) {
     std::size_t res = collide(o1, o2, (const CollisionRequest&)request, result);
     request.updateGuess(result);
     return res;
   }
   
   inline std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                              const CollisionGeometry* o2, const Transform3f& tf2,
                              CollisionRequest& request, CollisionResult& result) {
     std::size_t res =
         collide(o1, tf1, o2, tf2, (const CollisionRequest&)request, result);
     request.updateGuess(result);
     return res;
   }
   
   class HPP_FCL_DLLAPI ComputeCollision {
    public:
     ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2);
   
     std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
                            const CollisionRequest& request,
                            CollisionResult& result) const;
   
     inline std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
                                   CollisionRequest& request,
                                   CollisionResult& result) const {
       std::size_t res = operator()(tf1, tf2, (const CollisionRequest&)request,
                                    result);
       request.updateGuess(result);
       return res;
     }
   
     bool operator==(const ComputeCollision& other) const {
       return o1 == other.o1 && o2 == other.o2 && solver == other.solver;
     }
   
     bool operator!=(const ComputeCollision& other) const {
       return !(*this == other);
     }
   
     virtual ~ComputeCollision(){};
   
    protected:
     // These pointers are made mutable to let the derived classes to update
     // their values when updating the collision geometry (e.g. creating a new
     // one). This feature should be used carefully to avoid any mis usage (e.g,
     // changing the type of the collision geometry should be avoided).
     mutable const CollisionGeometry* o1;
     mutable const CollisionGeometry* o2;
   
     mutable GJKSolver solver;
   
     CollisionFunctionMatrix::CollisionFunc func;
     bool swap_geoms;
   
     virtual std::size_t run(const Transform3f& tf1, const Transform3f& tf2,
                             const CollisionRequest& request,
                             CollisionResult& result) const;
   
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
   
   }  // namespace fcl
   }  // namespace hpp
   
   #endif