This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...
#include <collision.h>
Public Member Functions | |
ComputeCollision (const CollisionGeometry *o1, const CollisionGeometry *o2) | |
Default constructor from two Collision Geometries. More... | |
bool | operator!= (const ComputeCollision &other) const |
std::size_t | operator() (const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const |
std::size_t | operator() (const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result) const |
bool | operator== (const ComputeCollision &other) const |
virtual | ~ComputeCollision () |
Protected Member Functions | |
virtual std::size_t | run (const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const |
Protected Attributes | |
CollisionFunctionMatrix::CollisionFunc | func |
const CollisionGeometry * | o1 |
const CollisionGeometry * | o2 |
GJKSolver | solver |
bool | swap_geoms |
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.
Definition at line 103 of file collision.h.
hpp::fcl::ComputeCollision::ComputeCollision | ( | const CollisionGeometry * | o1, |
const CollisionGeometry * | o2 | ||
) |
Default constructor from two Collision Geometries.
Definition at line 131 of file src/collision.cpp.
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inlinevirtual |
Definition at line 129 of file collision.h.
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inline |
Definition at line 125 of file collision.h.
std::size_t hpp::fcl::ComputeCollision::operator() | ( | const Transform3f & | tf1, |
const Transform3f & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) | const |
Definition at line 178 of file src/collision.cpp.
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inline |
Definition at line 112 of file collision.h.
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inline |
Definition at line 121 of file collision.h.
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protectedvirtual |
Definition at line 159 of file src/collision.cpp.
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protected |
Definition at line 141 of file collision.h.
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mutableprotected |
Definition at line 129 of file collision.h.
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mutableprotected |
Definition at line 137 of file collision.h.
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mutableprotected |
Definition at line 139 of file collision.h.
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protected |
Definition at line 142 of file collision.h.