fcl::CollisionResult< S > Struct Template Reference

collision result More...

#include <collision_request.h>

Public Member Functions
void	addContact (const Contact< S > &c)
	add one contact into result structure More...
void	addCostSource (const CostSource< S > &c, std::size_t num_max_cost_sources)
	add one cost source into result structure More...
void	clear ()
	clear the results obtained More...
	CollisionResult ()
const Contact< S > &	getContact (size_t i) const
	get the i-th contact calculated More...
void	getContacts (std::vector< Contact< S >> &contacts_)
	get all the contacts More...
void	getCostSources (std::vector< CostSource< S >> &cost_sources_)
	get all the cost sources More...
bool	isCollision () const
	return binary collision result More...
size_t	numContacts () const
	number of contacts found More...
size_t	numCostSources () const
	number of cost sources found More...

Public Attributes
Vector3< S >	cached_gjk_guess

Private Attributes
std::vector< Contact< S > >	contacts
	contact information More...
std::set< CostSource< S > >	cost_sources
	cost sources More...

Detailed Description

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

collision result

Definition at line 48 of file collision_request.h.

Constructor & Destructor Documentation

CollisionResult()

template<typename S >

fcl::CollisionResult< S >::CollisionResult

Definition at line 52 of file collision_result-inl.h.

Member Function Documentation

addContact()

template<typename S >

void fcl::CollisionResult< S >::addContact

(

const Contact< S > &

c

)

add one contact into result structure

Definition at line 59 of file collision_result-inl.h.

addCostSource()

template<typename S >

void fcl::CollisionResult< S >::addCostSource	(	const CostSource< S > &	c,
		std::size_t	num_max_cost_sources
	)

add one cost source into result structure

Definition at line 66 of file collision_result-inl.h.

clear()

template<typename S >

void fcl::CollisionResult< S >::clear

clear the results obtained

Definition at line 125 of file collision_result-inl.h.

getContact()

template<typename S >

const Contact< S > & fcl::CollisionResult< S >::getContact

(

size_t

i

)

const

get the i-th contact calculated

Definition at line 97 of file collision_result-inl.h.

getContacts()

template<typename S >

void fcl::CollisionResult< S >::getContacts

(

std::vector< Contact< S >> &

contacts_

)

get all the contacts

Definition at line 107 of file collision_result-inl.h.

getCostSources()

template<typename S >

void fcl::CollisionResult< S >::getCostSources

(

std::vector< CostSource< S >> &

cost_sources_

)

get all the cost sources

Definition at line 116 of file collision_result-inl.h.

isCollision()

template<typename S >

bool fcl::CollisionResult< S >::isCollision

return binary collision result

Definition at line 76 of file collision_result-inl.h.

numContacts()

template<typename S >

size_t fcl::CollisionResult< S >::numContacts

number of contacts found

Definition at line 83 of file collision_result-inl.h.

numCostSources()

template<typename S >

size_t fcl::CollisionResult< S >::numCostSources

number of cost sources found

Definition at line 90 of file collision_result-inl.h.

Member Data Documentation

cached_gjk_guess

template<typename S >

Vector3<S> fcl::CollisionResult< S >::cached_gjk_guess

Definition at line 62 of file collision_result.h.

contacts

template<typename S >

std::vector<Contact<S> > fcl::CollisionResult< S >::contacts

private

contact information

Definition at line 56 of file collision_result.h.

cost_sources

template<typename S >

std::set<CostSource<S> > fcl::CollisionResult< S >::cost_sources

private

cost sources

Definition at line 59 of file collision_result.h.

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

• collision_request.h
• collision_result.h
• collision_result-inl.h