hpp::fcl::CollisionResult Struct Reference

collision result More...

#include <collision_data.h>

Inheritance diagram for hpp::fcl::CollisionResult:

Public Member Functions
void	addContact (const Contact &c)
	add one contact into result structure More...
void	clear ()
	clear the results obtained More...
	CollisionResult ()
const Contact &	getContact (size_t i) const
	get the i-th contact calculated More...
const std::vector< Contact > &	getContacts () const
void	getContacts (std::vector< Contact > &contacts_) const
	get all the contacts More...
bool	isCollision () const
	return binary collision result More...
size_t	numContacts () const
	number of contacts found More...
bool	operator== (const CollisionResult &other) const
	whether two CollisionResult are the same or not More...
void	setContact (size_t i, const Contact &c)
	set the i-th contact calculated More...
void	swapObjects ()
	reposition Contact objects when fcl inverts them during their construction. More...
void	updateDistanceLowerBound (const FCL_REAL &distance_lower_bound_)
	Update the lower bound only if the distance is inferior. More...
Public Member Functions inherited from hpp::fcl::QueryResult
	QueryResult ()

Public Attributes
FCL_REAL	distance_lower_bound
Vec3f	nearest_points [2]
	nearest points available only when distance_lower_bound is inferior to CollisionRequest::break_distance. More...
Public Attributes inherited from hpp::fcl::QueryResult
Vec3f	cached_gjk_guess
	stores the last GJK ray when relevant. More...
support_func_guess_t	cached_support_func_guess
	stores the last support function vertex index, when relevant. More...
CPUTimes	timings
	timings for the given request More...

Private Attributes
std::vector< Contact >	contacts
	contact information More...

Detailed Description

collision result

Definition at line 302 of file collision_data.h.

Constructor & Destructor Documentation

CollisionResult()

hpp::fcl::CollisionResult::CollisionResult ( )

inline

Definition at line 320 of file collision_data.h.

Member Function Documentation

addContact()

void hpp::fcl::CollisionResult::addContact ( const Contact &  c )

inline

add one contact into result structure

Definition at line 330 of file collision_data.h.

clear()

void hpp::fcl::CollisionResult::clear ( )

inline

clear the results obtained

Definition at line 377 of file collision_data.h.

getContact()

const Contact& hpp::fcl::CollisionResult::getContact ( size_t  i ) const

inline

get the i-th contact calculated

Definition at line 345 of file collision_data.h.

getContacts() [1/2]

const std::vector<Contact>& hpp::fcl::CollisionResult::getContacts ( ) const

inline

Definition at line 374 of file collision_data.h.

getContacts() [2/2]

void hpp::fcl::CollisionResult::getContacts ( std::vector< Contact > &  contacts_ ) const

inline

get all the contacts

Definition at line 369 of file collision_data.h.

isCollision()

bool hpp::fcl::CollisionResult::isCollision ( ) const

inline

return binary collision result

Definition at line 339 of file collision_data.h.

numContacts()

size_t hpp::fcl::CollisionResult::numContacts ( ) const

inline

number of contacts found

Definition at line 342 of file collision_data.h.

operator==()

bool hpp::fcl::CollisionResult::operator== ( const CollisionResult &  other ) const

inline

whether two CollisionResult are the same or not

Definition at line 333 of file collision_data.h.

setContact()

void hpp::fcl::CollisionResult::setContact ( size_t  i, const Contact &  c  )

inline

set the i-th contact calculated

Definition at line 357 of file collision_data.h.

swapObjects()

void hpp::fcl::CollisionResult::swapObjects

(

)

reposition Contact objects when fcl inverts them during their construction.

Definition at line 54 of file src/collision.cpp.

updateDistanceLowerBound()

void hpp::fcl::CollisionResult::updateDistanceLowerBound ( const FCL_REAL &  distance_lower_bound_ )

inline

Update the lower bound only if the distance is inferior.

Definition at line 324 of file collision_data.h.

Member Data Documentation

contacts

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

private

contact information

Definition at line 305 of file collision_data.h.

distance_lower_bound

FCL_REAL hpp::fcl::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint. See Collision

Note

computed only on request (or if it does not add any computational overhead).

Definition at line 312 of file collision_data.h.

nearest_points

Vec3f hpp::fcl::CollisionResult::nearest_points[2]

nearest points available only when distance_lower_bound is inferior to CollisionRequest::break_distance.

Definition at line 317 of file collision_data.h.

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

• collision_data.h
• src/collision.cpp