base class for all query requests More...
#include <collision_data.h>
Public Member Functions | |
| 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 | |
| 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
base class for all query requests
Definition at line 170 of file coal/collision_data.h.
Constructor & Destructor Documentation
◆ QueryRequest() [1/2]
|
inline |
Default constructor.
Definition at line 222 of file coal/collision_data.h.
◆ QueryRequest() [2/2]
|
default |
Copy constructor.
Member Function Documentation
◆ operator=()
|
default |
Copy assignment operator.
◆ operator==()
|
inline |
whether two QueryRequest are the same or not
Definition at line 253 of file coal/collision_data.h.
◆ updateGuess()
|
inline |
Updates the guess for the internal GJK algorithm in order to warm-start it when reusing this collision request on the same collision pair.
- Note
- The option
gjk_initial_guessmust be set toGJKInitialGuess::CachedGuessfor this to work.
Definition at line 290 of file coal/collision_data.h.
Member Data Documentation
◆ cached_gjk_guess
|
mutable |
the gjk initial guess set by user
Definition at line 180 of file coal/collision_data.h.
◆ cached_support_func_guess
|
mutable |
the support function initial guess set by user
Definition at line 183 of file coal/collision_data.h.
◆ collision_distance_threshold
| CoalScalar coal::QueryRequest::collision_distance_threshold |
threshold below which a collision is considered.
Definition at line 217 of file coal/collision_data.h.
◆ enable_cached_gjk_guess
| bool coal::QueryRequest::enable_cached_gjk_guess |
whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead
Definition at line 177 of file coal/collision_data.h.
◆ enable_timings
| bool coal::QueryRequest::enable_timings |
enable timings when performing collision/distance request
Definition at line 214 of file coal/collision_data.h.
◆ epa_max_iterations
| size_t coal::QueryRequest::epa_max_iterations |
max number of iterations for EPA
Definition at line 204 of file coal/collision_data.h.
◆ epa_tolerance
| CoalScalar coal::QueryRequest::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.
Definition at line 211 of file coal/collision_data.h.
◆ gjk_convergence_criterion
| GJKConvergenceCriterion coal::QueryRequest::gjk_convergence_criterion |
convergence criterion used to stop GJK
Definition at line 198 of file coal/collision_data.h.
◆ gjk_convergence_criterion_type
| GJKConvergenceCriterionType coal::QueryRequest::gjk_convergence_criterion_type |
convergence criterion used to stop GJK
Definition at line 201 of file coal/collision_data.h.
◆ gjk_initial_guess
| GJKInitialGuess coal::QueryRequest::gjk_initial_guess |
Definition at line 172 of file coal/collision_data.h.
◆ gjk_max_iterations
| size_t coal::QueryRequest::gjk_max_iterations |
maximum iteration for the GJK algorithm
Definition at line 186 of file coal/collision_data.h.
◆ gjk_tolerance
| CoalScalar coal::QueryRequest::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.
Definition at line 192 of file coal/collision_data.h.
◆ gjk_variant
| GJKVariant coal::QueryRequest::gjk_variant |
whether to enable the Nesterov accleration of GJK
Definition at line 195 of file coal/collision_data.h.
The documentation for this struct was generated from the following file: