Inheritance diagram for SweptSphereGJKSolver:
Public Member Functions | |
| template<typename S1 , typename S2 > | |
| CoalScalar | shapeDistance (const S1 &s1, const Transform3s &tf1, const S2 &s2, const Transform3s &tf2, bool compute_penetration, Vec3s &p1, Vec3s &p2, Vec3s &normal, bool use_swept_sphere_radius_in_gjk_epa_iterations) const |
 Public Member Functions inherited from coal::GJKSolver | |
| CoalScalar | getDistancePrecision (const bool compute_penetration) const |
Helper to return the precision of the solver on the distance estimate, depending on whether or not compute_penetration is true. More... | |
| COAL_COMPILER_DIAGNOSTIC_PUSH COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | GJKSolver () |
Default constructor for GJK algorithm By default, we don't want EPA to allocate memory because certain functions of the GJKSolver class have specializations which don't use EPA (and/or GJK). So we give EPA's constructor a max number of iterations of zero. Only the functions that need EPA will reset the algorithm and allocate memory if needed. More... | |
| GJKSolver (const CollisionRequest &request) | |
| Constructor from a CollisionRequest. More... | |
| GJKSolver (const DistanceRequest &request) | |
| Constructor from a DistanceRequest. More... | |
| GJKSolver (const GJKSolver &other)=default | |
| Copy constructor. More... | |
| COAL_COMPILER_DIAGNOSTIC_POP bool | operator!= (const GJKSolver &other) const |
| COAL_COMPILER_DIAGNOSTIC_PUSH COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS bool | operator== (const GJKSolver &other) const |
| void | set (const CollisionRequest &request) |
| setter from a CollisionRequest More... | |
| void | set (const DistanceRequest &request) |
| setter from a DistanceRequest More... | |
| template<typename S1 , typename S2 > | |
| CoalScalar | shapeDistance (const S1 &s1, const Transform3s &tf1, const S2 &s2, const Transform3s &tf2, const bool compute_penetration, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
| Uses GJK and EPA to compute the distance between two shapes. More... | |
| template<typename S1 > | |
| CoalScalar | shapeDistance (const S1 &s1, const Transform3s &tf1, const TriangleP &s2, const Transform3s &tf2, const bool compute_penetration, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
Partial specialization of shapeDistance for the case where the second shape is a triangle. It is more efficient to pre-compute the relative transformation between the two shapes before calling GJK/EPA. More... | |
| template<typename S2 > | |
| CoalScalar | shapeDistance (const TriangleP &s1, const Transform3s &tf1, const S2 &s2, const Transform3s &tf2, const bool compute_penetration, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
| See other partial template specialization of shapeDistance above. More... | |
Additional Inherited Members | |
| Public Attributes inherited from coal::GJKSolver | |
| Vec3s | cached_guess |
| smart guess More... | |
| CoalScalar | distance_upper_bound |
| If GJK can guarantee that the distance between the shapes is greater than this value, it will early stop. More... | |
| bool | enable_cached_guess |
| Whether smart guess can be provided @Deprecated Use gjk_initial_guess instead. More... | |
| details::EPA | epa |
| EPA algorithm. More... | |
| size_t | epa_max_iterations |
| maximum number of iterations of EPA More... | |
| CoalScalar | epa_tolerance |
| tolerance of EPA More... | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW details::GJK | gjk |
| GJK algorithm. More... | |
| GJKConvergenceCriterion | gjk_convergence_criterion |
| Convergence criterion for GJK. More... | |
| GJKConvergenceCriterionType | gjk_convergence_criterion_type |
| Absolute or relative convergence criterion for GJK. More... | |
| GJKInitialGuess | gjk_initial_guess |
| which warm start to use for GJK More... | |
| size_t | gjk_max_iterations |
| maximum number of iterations of GJK More... | |
| CoalScalar | gjk_tolerance |
| tolerance of GJK More... | |
| GJKVariant | gjk_variant |
| Variant of the GJK algorithm (Default, Nesterov or Polyak). More... | |
| details::MinkowskiDiff | minkowski_difference |
| Minkowski difference used by GJK and EPA algorithms. More... | |
| support_func_guess_t | support_func_cached_guess |
| smart guess for the support function More... | |
| Protected Member Functions inherited from coal::GJKSolver | |
| void | EPAExtractWitnessPointsAndNormal (const Transform3s &tf1, CoalScalar &distance, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
| void | EPAFailedExtractWitnessPointsAndNormal (const Transform3s &tf1, CoalScalar &distance, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
| template<typename S1 , typename S2 > | |
| void | getGJKInitialGuess (const S1 &s1, const S2 &s2, Vec3s &guess, support_func_guess_t &support_hint, const Vec3s &default_guess=Vec3s(1, 0, 0)) const |
initialize GJK. This method assumes minkowski_difference has been set. More... | |
| void | GJKCollisionExtractWitnessPointsAndNormal (const Transform3s &tf1, CoalScalar &distance, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
| void | GJKEarlyStopExtractWitnessPointsAndNormal (const Transform3s &tf1, CoalScalar &distance, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
| void | GJKExtractWitnessPointsAndNormal (const Transform3s &tf1, CoalScalar &distance, Vec3s &p1, Vec3s &p2, Vec3s &normal) const |
| template<typename S1 , typename S2 , int _SupportOptions = details::SupportOptions::NoSweptSphere> | |
| void | runGJKAndEPA (const S1 &s1, const Transform3s &tf1, const S2 &s2, const Transform3s &tf2, const bool compute_penetration, CoalScalar &distance, Vec3s &p1, Vec3s &p2, Vec3s &normal, const bool relative_transformation_already_computed=false) const |
| Runs the GJK algorithm. More... | |
Detailed Description
Definition at line 114 of file swept_sphere_radius.cpp.
Member Function Documentation
◆ shapeDistance()
template<typename S1 , typename S2 >
|
inline |
Definition at line 116 of file swept_sphere_radius.cpp.
The documentation for this struct was generated from the following file: