request to the collision algorithm More...
#include <collision_data.h>
Public Member Functions | |
| CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_) | |
| Constructor from a flag and a maximal number of contacts. More... | |
| CollisionRequest () | |
| Default constructor. More... | |
| bool | isSatisfied (const CollisionResult &result) const |
| bool | operator== (const CollisionRequest &other) const |
| whether two CollisionRequest are the same or not More... | |
 Public Member Functions inherited from hpp::fcl::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... | |
| HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | QueryRequest () |
| Default constructor. More... | |
| QueryRequest (const QueryRequest &other)=default | |
| Copy constructor. More... | |
| HPP_FCL_COMPILER_DIAGNOSTIC_POP void | updateGuess (const QueryResult &result) |
Public Attributes | |
| FCL_REAL | break_distance |
| Distance below which bounding volumes are broken down. See Collision. More... | |
| FCL_REAL | distance_upper_bound |
| Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold. More... | |
| bool | enable_contact |
| whether the contact information (normal, penetration depth and contact position) will return More... | |
| bool | enable_distance_lower_bound |
| Whether a lower bound on distance is returned when objects are disjoint. More... | |
| size_t | num_max_contacts |
| The maximum number of contacts will return. More... | |
| FCL_REAL | security_margin |
| Distance below which objects are considered in collision. See Collision. More... | |
| Public Attributes inherited from hpp::fcl::QueryRequest | |
| Vec3f | 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... | |
| FCL_REAL | collision_distance_threshold |
| threshold below which a collision is considered. More... | |
| bool | enable_cached_gjk_guess |
| whether enable gjk initial guess Use gjk_initial_guess instead More... | |
| bool | enable_timings |
| enable timings when performing collision/distance request 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... | |
| FCL_REAL | gjk_tolerance |
| tolerance for the GJK algorithm More... | |
| GJKVariant | gjk_variant |
| whether to enable the Nesterov accleration of GJK More... | |
Detailed Description
request to the collision algorithm
Definition at line 235 of file collision_data.h.
Constructor & Destructor Documentation
◆ CollisionRequest() [1/2]
|
inline |
Constructor from a flag and a maximal number of contacts.
- Parameters
-
[in] flag Collision request flag [in] num_max_contacts Maximal number of allowed contacts
Definition at line 270 of file collision_data.h.
◆ CollisionRequest() [2/2]
|
inline |
Default constructor.
Definition at line 279 of file collision_data.h.
Member Function Documentation
◆ isSatisfied()
| bool hpp::fcl::CollisionRequest::isSatisfied | ( | const CollisionResult & | result | ) | const |
Definition at line 43 of file collision_data.cpp.
◆ operator==()
|
inline |
whether two CollisionRequest are the same or not
Definition at line 290 of file collision_data.h.
Member Data Documentation
◆ break_distance
| FCL_REAL hpp::fcl::CollisionRequest::break_distance |
Distance below which bounding volumes are broken down. See Collision.
Definition at line 255 of file collision_data.h.
◆ distance_upper_bound
| FCL_REAL hpp::fcl::CollisionRequest::distance_upper_bound |
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold.
- Remarks
- Consequently, the closest points might be incorrect, but allows to save computational resources.
Definition at line 263 of file collision_data.h.
◆ enable_contact
| bool hpp::fcl::CollisionRequest::enable_contact |
whether the contact information (normal, penetration depth and contact position) will return
Definition at line 241 of file collision_data.h.
◆ enable_distance_lower_bound
| bool hpp::fcl::CollisionRequest::enable_distance_lower_bound |
Whether a lower bound on distance is returned when objects are disjoint.
Definition at line 244 of file collision_data.h.
◆ num_max_contacts
| size_t hpp::fcl::CollisionRequest::num_max_contacts |
The maximum number of contacts will return.
Definition at line 237 of file collision_data.h.
◆ security_margin
| FCL_REAL hpp::fcl::CollisionRequest::security_margin |
Distance below which objects are considered in collision. See Collision.
- Note
- If set to -inf, the objects tested for collision are considered as collision free and no test is actually performed by functions hpp::fcl::collide of class hpp::fcl::ComputeCollision.
Definition at line 251 of file collision_data.h.
The documentation for this struct was generated from the following files: