collision_result.h
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35 
38 #ifndef FCL_COLLISIONRESULT_H
39 #define FCL_COLLISIONRESULT_H
40 
41 #include <set>
42 #include <vector>
43 #include "fcl/common/types.h"
46 
47 namespace fcl
48 {
49 
51 template <typename S>
52 struct FCL_EXPORT CollisionResult
53 {
54 private:
56  std::vector<Contact<S>> contacts;
57 
59  std::set<CostSource<S>> cost_sources;
60 
61 public:
63 
64 public:
66 
68  void addContact(const Contact<S>& c);
69 
71  void addCostSource(const CostSource<S>& c, std::size_t num_max_cost_sources);
72 
74  bool isCollision() const;
75 
77  size_t numContacts() const;
78 
80  size_t numCostSources() const;
81 
83  const Contact<S>& getContact(size_t i) const;
84 
86  void getContacts(std::vector<Contact<S>>& contacts_);
87 
89  void getCostSources(std::vector<CostSource<S>>& cost_sources_);
90 
92  void clear();
93 };
94 
97 
98 } // namespace fcl
99 
101 
102 #endif
fcl::CollisionResult::contacts
std::vector< Contact< S > > contacts
contact information
Definition: collision_result.h:56
types.h
cost_source.h
fcl::Contact
Contact information returned by collision.
Definition: contact.h:48
fcl::CostSource
Cost source describes an area with a cost. The area is described by an AABB region.
Definition: cost_source.h:49
fcl::CollisionResult
collision result
Definition: collision_request.h:48
collision_result-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::CollisionResult::cost_sources
std::set< CostSource< S > > cost_sources
cost sources
Definition: collision_result.h:59
contact.h
fcl::CollisionResult::cached_gjk_guess
Vector3< S > cached_gjk_guess
Definition: collision_result.h:62
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Sat Sep 11 2021 02:37:41