collision_func_matrix.h
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35 
38 #ifndef HPP_FCL_COLLISION_FUNC_MATRIX_H
39 #define HPP_FCL_COLLISION_FUNC_MATRIX_H
40 
42 #include <hpp/fcl/collision_data.h>
44 
45 namespace hpp {
46 namespace fcl {
47 
50 
51 struct HPP_FCL_DLLAPI CollisionFunctionMatrix {
61  typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1,
62  const Transform3f& tf1,
63  const CollisionGeometry* o2,
64  const Transform3f& tf2,
65  const GJKSolver* nsolver,
66  const CollisionRequest& request,
67  CollisionResult& result);
68 
71  CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];
72 
74 };
75 
76 } // namespace fcl
77 
78 } // namespace hpp
79 
80 #endif
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
Main namespace.
tuple tf2
request to the collision algorithm
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54
The geometry for the object for collision or distance computation.
tuple tf1
collision matrix stores the functions for collision between different types of objects and provides a...


hpp-fcl
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autogenerated on Fri Jun 2 2023 02:39:00