38 #ifndef FCL_CONTINUOUS_COLLISION_H
39 #define FCL_CONTINUOUS_COLLISION_H
56 const CollisionGeometry<S>* o1,
57 const MotionBase<S>* motion1,
58 const CollisionGeometry<S>* o2,
59 const MotionBase<S>* motion2,
60 const ContinuousCollisionRequest<S>& request,
61 ContinuousCollisionResult<S>& result);
66 const CollisionGeometry<S>* o1,
67 const Transform3<S>& tf1_beg,
68 const Transform3<S>& tf1_end,
69 const CollisionGeometry<S>* o2,
70 const Transform3<S>& tf2_beg,
71 const Transform3<S>& tf2_end,
72 const ContinuousCollisionRequest<S>& request,
73 ContinuousCollisionResult<S>& result);
78 const CollisionObject<S>* o1,
79 const Transform3<S>& tf1_end,
80 const CollisionObject<S>* o2,
81 const Transform3<S>& tf2_end,
82 const ContinuousCollisionRequest<S>& request,
83 ContinuousCollisionResult<S>& result);
88 const ContinuousCollisionObject<S>* o1,
89 const ContinuousCollisionObject<S>* o2,
90 const ContinuousCollisionRequest<S>& request,
91 ContinuousCollisionResult<S>& result);