request to the distance computation More...
#include <collision_data.h>
Inheritance diagram for coal::DistanceRequest:
Public Member Functions | |
| COAL_DEPRECATED_MESSAGE (Nearest points are always computed :they are the points of the shapes that achieve a distance of `DistanceResult::min_distance` .\n Use `enable_signed_distance` if you want to compute a signed minimum distance(and thus its corresponding nearest points) .) bool enable_nearest_points | |
whether to return the nearest points. Nearest points are always computed and are the points of the shapes that achieve a distance of DistanceResult::min_distance. More... | |
| COAL_COMPILER_DIAGNOSTIC_PUSH COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | DistanceRequest (bool enable_nearest_points_=true, bool enable_signed_distance_=true, CoalScalar rel_err_=0.0, CoalScalar abs_err_=0.0) |
| COAL_COMPILER_DIAGNOSTIC_POP bool | isSatisfied (const DistanceResult &result) const |
| COAL_COMPILER_DIAGNOSTIC_PUSH COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS DistanceRequest & | operator= (const DistanceRequest &other)=default |
| COAL_COMPILER_DIAGNOSTIC_POP bool | operator== (const DistanceRequest &other) const |
| whether two DistanceRequest are the same or not More... | |
 Public Member Functions inherited from coal::QueryRequest | |
| QueryRequest & | operator= (const QueryRequest &other)=default |
| Copy assignment operator. More... | |
| bool | operator== (const QueryRequest &other) const |
| whether two QueryRequest are the same or not More... | |
| COAL_COMPILER_DIAGNOSTIC_PUSH COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | QueryRequest () |
| Default constructor. More... | |
| QueryRequest (const QueryRequest &other)=default | |
| Copy constructor. More... | |
| COAL_COMPILER_DIAGNOSTIC_POP void | updateGuess (const QueryResult &result) const |
| Updates the guess for the internal GJK algorithm in order to warm-start it when reusing this collision request on the same collision pair. More... | |
Public Attributes | |
| CoalScalar | abs_err |
| bool | enable_signed_distance |
| whether to compute the penetration depth when objects are in collision. Turning this off can save computation time if only the distance when objects are disjoint is needed. More... | |
| CoalScalar | rel_err |
| error threshold for approximate distance More... | |
| Public Attributes inherited from coal::QueryRequest | |
| Vec3s | cached_gjk_guess |
| the gjk initial guess set by user More... | |
| support_func_guess_t | cached_support_func_guess |
| the support function initial guess set by user More... | |
| CoalScalar | collision_distance_threshold |
| threshold below which a collision is considered. More... | |
| bool | enable_cached_gjk_guess |
| whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead More... | |
| bool | enable_timings |
| enable timings when performing collision/distance request More... | |
| size_t | epa_max_iterations |
| max number of iterations for EPA More... | |
| CoalScalar | epa_tolerance |
| tolerance for EPA. Note: This tolerance determines the precision on the estimated distance between two geometries which are in collision. It is recommended to not set this tolerance to less than 1e-6. Also, setting EPA's tolerance to less than GJK's is not recommended. More... | |
| GJKConvergenceCriterion | gjk_convergence_criterion |
| convergence criterion used to stop GJK More... | |
| GJKConvergenceCriterionType | gjk_convergence_criterion_type |
| convergence criterion used to stop GJK More... | |
| GJKInitialGuess | gjk_initial_guess |
| size_t | gjk_max_iterations |
| maximum iteration for the GJK algorithm More... | |
| CoalScalar | gjk_tolerance |
| tolerance for the GJK algorithm. Note: This tolerance determines the precision on the estimated distance between two geometries which are not in collision. It is recommended to not set this tolerance to less than 1e-6. More... | |
| GJKVariant | gjk_variant |
| whether to enable the Nesterov accleration of GJK More... | |
Detailed Description
request to the distance computation
Definition at line 985 of file coal/collision_data.h.
Constructor & Destructor Documentation
◆ DistanceRequest()
|
inline |
- Parameters
-
enable_nearest_points_ enables the nearest points computation. enable_signed_distance_ allows to compute the penetration depth rel_err_ abs_err_
Definition at line 1022 of file coal/collision_data.h.
Member Function Documentation
◆ COAL_DEPRECATED_MESSAGE()
| coal::DistanceRequest::COAL_DEPRECATED_MESSAGE | ( | Nearest points are always computed :they are the points of the shapes that achieve a distance of `DistanceResult::min_distance` .\n Use `enable_signed_distance` if you want to compute a signed minimum distance(and thus its corresponding nearest points) | . | ) |
whether to return the nearest points. Nearest points are always computed and are the points of the shapes that achieve a distance of DistanceResult::min_distance.
◆ isSatisfied()
| bool coal::DistanceRequest::isSatisfied | ( | const DistanceResult & | result | ) | const |
Definition at line 47 of file collision_data.cpp.
◆ operator=()
|
default |
◆ operator==()
|
inline |
whether two DistanceRequest are the same or not
Definition at line 1039 of file coal/collision_data.h.
Member Data Documentation
◆ abs_err
| CoalScalar coal::DistanceRequest::abs_err |
Definition at line 1014 of file coal/collision_data.h.
◆ enable_signed_distance
| bool coal::DistanceRequest::enable_signed_distance |
whether to compute the penetration depth when objects are in collision. Turning this off can save computation time if only the distance when objects are disjoint is needed.
- Note
- The minimum distance between the shapes is stored in
DistanceResult::min_distance. Ifenable_signed_distanceis off,DistanceResult::min_distanceis always positive. Ifenable_signed_distanceis on,DistanceResult::min_distancecan be positive or negative. The nearest points are the points of the shapes that achieve a distance ofDistanceResult::min_distance.
Definition at line 1010 of file coal/collision_data.h.
◆ rel_err
| CoalScalar coal::DistanceRequest::rel_err |
error threshold for approximate distance
Definition at line 1013 of file coal/collision_data.h.
The documentation for this struct was generated from the following files: