Public Member Functions | Public Attributes | Private Attributes | List of all members
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.


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


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