Public Types | Public Member Functions | Public Attributes | List of all members
fcl::CollisionRequest< S > Struct Template Reference

Parameters for performing collision request. More...

#include <collision_request.h>

Public Types

typedef Eigen::NumTraits< S >::Real Real
 

Public Member Functions

 CollisionRequest (size_t num_max_contacts_=1, bool enable_contact_=false, size_t num_max_cost_sources_=1, bool enable_cost_=false, bool use_approximate_cost_=true, GJKSolverType gjk_solver_type_=GST_LIBCCD, Real gjk_tolerance_=1e-6)
 Default constructor. More...
 
bool isSatisfied (const CollisionResult< S > &result) const
 

Public Attributes

Vector3< S > cached_gjk_guess
 The initial guess to use in the GJK algorithm. More...
 
bool enable_cached_gjk_guess
 If true, uses the provided initial guess for the GJK algorithm. More...
 
bool enable_contact
 If true, contact information (e.g., normal, penetration depth, and contact position) will be returned. More...
 
bool enable_cost
 If true, the cost sources will be computed. More...
 
GJKSolverType gjk_solver_type
 Enumeration indicating the GJK solver implementation to use. More...
 
Real gjk_tolerance {1e-6}
 Numerical tolerance to use in the GJK algorithm. NOTE: The default value is currently set as 1e-6 to provide backwards compatibility; historically it has been 1e-6. Future code should provide a value that is consistent with the precision of S. More...
 
size_t num_max_contacts
 The maximum number of contacts that can be returned. More...
 
size_t num_max_cost_sources
 The maximum number of cost sources that can be returned. More...
 
bool use_approximate_cost
 If true, the cost computation is approximated (if computed). More...
 

Detailed Description

template<typename S>
struct fcl::CollisionRequest< S >

Parameters for performing collision request.

Definition at line 52 of file collision_request.h.

Member Typedef Documentation

◆ Real

template<typename S >
typedef Eigen::NumTraits<S>::Real fcl::CollisionRequest< S >::Real

The underlying numerical representation of the request's scalar (e.g., float or double).

Definition at line 56 of file collision_request.h.

Constructor & Destructor Documentation

◆ CollisionRequest()

template<typename S >
fcl::CollisionRequest< S >::CollisionRequest ( size_t  num_max_contacts_ = 1,
bool  enable_contact_ = false,
size_t  num_max_cost_sources_ = 1,
bool  enable_cost_ = false,
bool  use_approximate_cost_ = true,
GJKSolverType  gjk_solver_type_ = GST_LIBCCD,
Real  gjk_tolerance_ = 1e-6 
)

Default constructor.

Definition at line 54 of file collision_request-inl.h.

Member Function Documentation

◆ isSatisfied()

template<typename S >
bool fcl::CollisionRequest< S >::isSatisfied ( const CollisionResult< S > &  result) const

Definition at line 77 of file collision_request-inl.h.

Member Data Documentation

◆ cached_gjk_guess

template<typename S >
Vector3<S> fcl::CollisionRequest< S >::cached_gjk_guess

The initial guess to use in the GJK algorithm.

Definition at line 86 of file collision_request.h.

◆ enable_cached_gjk_guess

template<typename S >
bool fcl::CollisionRequest< S >::enable_cached_gjk_guess

If true, uses the provided initial guess for the GJK algorithm.

Definition at line 83 of file collision_request.h.

◆ enable_contact

template<typename S >
bool fcl::CollisionRequest< S >::enable_contact

If true, contact information (e.g., normal, penetration depth, and contact position) will be returned.

Definition at line 63 of file collision_request.h.

◆ enable_cost

template<typename S >
bool fcl::CollisionRequest< S >::enable_cost

If true, the cost sources will be computed.

Definition at line 72 of file collision_request.h.

◆ gjk_solver_type

template<typename S >
GJKSolverType fcl::CollisionRequest< S >::gjk_solver_type

Enumeration indicating the GJK solver implementation to use.

Definition at line 78 of file collision_request.h.

◆ gjk_tolerance

template<typename S >
Real fcl::CollisionRequest< S >::gjk_tolerance {1e-6}

Numerical tolerance to use in the GJK algorithm. NOTE: The default value is currently set as 1e-6 to provide backwards compatibility; historically it has been 1e-6. Future code should provide a value that is consistent with the precision of S.

Definition at line 94 of file collision_request.h.

◆ num_max_contacts

template<typename S >
size_t fcl::CollisionRequest< S >::num_max_contacts

The maximum number of contacts that can be returned.

Definition at line 59 of file collision_request.h.

◆ num_max_cost_sources

template<typename S >
size_t fcl::CollisionRequest< S >::num_max_cost_sources

The maximum number of cost sources that can be returned.

Definition at line 69 of file collision_request.h.

◆ use_approximate_cost

template<typename S >
bool fcl::CollisionRequest< S >::use_approximate_cost

If true, the cost computation is approximated (if computed).

Definition at line 75 of file collision_request.h.


The documentation for this struct was generated from the following files:


fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:02