collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...
#include <narrowphase.h>
Public Types | |
typedef Eigen::Array< FCL_REAL, 1, 2 > | Array2d |
Public Member Functions | |
HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | GJKSolver () |
Default constructor for GJK algorithm. More... | |
GJKSolver (const CollisionRequest &request) | |
Constructor from a CollisionRequest. More... | |
GJKSolver (const DistanceRequest &request) | |
Constructor from a DistanceRequest. More... | |
GJKSolver (const GJKSolver &other)=default | |
Copy constructor. More... | |
template<typename S1 , typename S2 > | |
void | initialize_gjk (details::GJK &gjk, const details::MinkowskiDiff &shape, const S1 &s1, const S2 &s2, Vec3f &guess, support_func_guess_t &support_hint) const |
initialize GJK More... | |
HPP_FCL_COMPILER_DIAGNOSTIC_POP bool | operator!= (const GJKSolver &other) const |
HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS bool | operator== (const GJKSolver &other) const |
void | set (const CollisionRequest &request) |
setter from a CollisionRequest More... | |
void | set (const DistanceRequest &request) |
setter from a DistanceRequest More... | |
template<> | |
bool | shapeDistance (const Box &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
bool | shapeDistance (const Capsule &, const Transform3f &, const Capsule &, const Transform3f &, FCL_REAL &, Vec3f &, Vec3f &, Vec3f &) const |
template<> | |
bool | shapeDistance (const Capsule &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
bool | shapeDistance (const Cylinder &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<typename S1 , typename S2 > | |
bool | shapeDistance (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
distance computation between two shapes More... | |
template<> | |
bool | shapeDistance (const Sphere &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
bool | shapeDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
bool | shapeDistance (const Sphere &s1, const Transform3f &tf1, const Cylinder &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
bool | shapeDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
bool | shapeDistance (const TriangleP &s1, const Transform3f &tf1, const TriangleP &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
bool | shapeIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Box &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *, Vec3f *) const |
template<> | |
bool | shapeIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *, Vec3f *) const |
template<> | |
bool | shapeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<typename S1 , typename S2 > | |
bool | shapeIntersect (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f *contact_points, Vec3f *normal) const |
intersection checking between two shapes More... | |
template<> | |
bool | shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
bool | shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool, Vec3f *contact_points, Vec3f *normal) const |
template<> | |
HPP_FCL_DLLAPI bool | shapeTriangleInteraction (const Halfspace &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<> | |
HPP_FCL_DLLAPI bool | shapeTriangleInteraction (const Plane &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
template<typename S > | |
bool | shapeTriangleInteraction (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
intersection checking between one shape and a triangle with transformation More... | |
template<> | |
HPP_FCL_DLLAPI bool | shapeTriangleInteraction (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const |
Shape intersection specializations | |
template<> | |
HPP_FCL_DLLAPI bool | shapeIntersect (const Box &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f *contact_points, Vec3f *normal) const |
Public Attributes | |
Vec3f | cached_guess |
smart guess More... | |
FCL_REAL | distance_upper_bound |
Distance above which the GJK solver stoppes its computations and processes to an early stopping. The two witness points are incorrect, but with the guaranty that the two shapes have a distance greather than distance_upper_bound. More... | |
bool | enable_cached_guess |
Whether smart guess can be provided @Deprecated Use gjk_initial_guess instead. More... | |
unsigned int | epa_max_face_num |
maximum number of simplex face used in EPA algorithm More... | |
unsigned int | epa_max_iterations |
maximum number of iterations used for EPA iterations More... | |
unsigned int | epa_max_vertex_num |
maximum number of simplex vertex used in EPA algorithm More... | |
FCL_REAL | epa_tolerance |
the threshold used in EPA to stop iteration More... | |
GJKConvergenceCriterion | gjk_convergence_criterion |
Criterion used to stop GJK. More... | |
GJKConvergenceCriterionType | gjk_convergence_criterion_type |
Relative or absolute. More... | |
GJKInitialGuess | gjk_initial_guess |
which warm start to use for GJK More... | |
size_t | gjk_max_iterations |
maximum number of iterations used for GJK iterations More... | |
FCL_REAL | gjk_tolerance |
the threshold used in GJK to stop iteration More... | |
GJKVariant | gjk_variant |
Variant to use for the GJK algorithm. More... | |
support_func_guess_t | support_func_cached_guess |
smart guess for the support function More... | |
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)
Definition at line 54 of file narrowphase.h.
typedef Eigen::Array<FCL_REAL, 1, 2> hpp::fcl::GJKSolver::Array2d |
Definition at line 55 of file narrowphase.h.
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inline |
Default constructor for GJK algorithm.
Definition at line 350 of file narrowphase.h.
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inline |
Constructor from a DistanceRequest.
[in] | request | DistanceRequest input |
Definition at line 371 of file narrowphase.h.
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inline |
Constructor from a CollisionRequest.
[in] | request | CollisionRequest input |
Definition at line 409 of file narrowphase.h.
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default |
Copy constructor.
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inline |
initialize GJK
Definition at line 59 of file narrowphase.h.
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inline |
Definition at line 473 of file narrowphase.h.
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inline |
Definition at line 453 of file narrowphase.h.
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inline |
setter from a CollisionRequest
[in] | request | CollisionRequest input |
Definition at line 427 of file narrowphase.h.
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inline |
setter from a DistanceRequest
[in] | request | DistanceRequest input |
Definition at line 389 of file narrowphase.h.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Box & | s1, |
const Transform3f & | tf1, | ||
const Sphere & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 404 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Capsule & | , |
const Transform3f & | , | ||
const Capsule & | , | ||
const Transform3f & | , | ||
FCL_REAL & | , | ||
Vec3f & | , | ||
Vec3f & | , | ||
Vec3f & | |||
) | const |
Definition at line 455 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Capsule & | s1, |
const Transform3f & | tf1, | ||
const Sphere & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 394 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Cylinder & | s1, |
const Transform3f & | tf1, | ||
const Sphere & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 436 of file narrowphase.cpp.
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inline |
distance computation between two shapes
Definition at line 261 of file narrowphase.h.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Box & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 414 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Capsule & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 384 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Cylinder & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 427 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Sphere & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 445 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeDistance | ( | const TriangleP & | s1, |
const Transform3f & | tf1, | ||
const TriangleP & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | dist, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 463 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Box & | s1, |
const Transform3f & | tf1, | ||
const Halfspace & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 157 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Box & | s1, |
const Transform3f & | tf1, | ||
const Plane & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 263 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Box & | s1, |
const Transform3f & | tf1, | ||
const Sphere & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 114 of file narrowphase.cpp.
HPP_FCL_DLLAPI bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Box & | s1, |
const Transform3f & | tf1, | ||
const Sphere & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance_lower_bound, | ||
bool | enable_penetration, | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Capsule & | s1, |
const Transform3f & | tf1, | ||
const Halfspace & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 172 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Capsule & | s1, |
const Transform3f & | tf1, | ||
const Plane & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 277 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Cone & | s1, |
const Transform3f & | tf1, | ||
const Halfspace & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 202 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Cone & | s1, |
const Transform3f & | tf1, | ||
const Plane & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 307 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Cylinder & | s1, |
const Transform3f & | tf1, | ||
const Halfspace & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 187 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Cylinder & | s1, |
const Transform3f & | tf1, | ||
const Plane & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 292 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Halfspace & | s1, |
const Transform3f & | tf1, | ||
const Halfspace & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | , | ||
Vec3f * | |||
) | const |
Definition at line 217 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Plane & | s1, |
const Transform3f & | tf1, | ||
const Halfspace & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | , | ||
Vec3f * | |||
) | const |
Definition at line 231 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Plane & | s1, |
const Transform3f & | tf1, | ||
const Plane & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 321 of file narrowphase.cpp.
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inline |
intersection checking between two shapes
Definition at line 104 of file narrowphase.h.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Capsule & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance_lower_bound, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 94 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Halfspace & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 142 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Plane & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 248 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeIntersect | ( | const Sphere & | s1, |
const Transform3f & | tf1, | ||
const Sphere & | s2, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance_lower_bound, | ||
bool | , | ||
Vec3f * | contact_points, | ||
Vec3f * | normal | ||
) | const |
Definition at line 105 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeTriangleInteraction | ( | const Halfspace & | s, |
const Transform3f & | tf1, | ||
const Vec3f & | P1, | ||
const Vec3f & | P2, | ||
const Vec3f & | P3, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 340 of file narrowphase.cpp.
bool hpp::fcl::GJKSolver::shapeTriangleInteraction | ( | const Plane & | s, |
const Transform3f & | tf1, | ||
const Vec3f & | P1, | ||
const Vec3f & | P2, | ||
const Vec3f & | P3, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 349 of file narrowphase.cpp.
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inline |
intersection checking between one shape and a triangle with transformation
Definition at line 178 of file narrowphase.h.
bool hpp::fcl::GJKSolver::shapeTriangleInteraction | ( | const Sphere & | s, |
const Transform3f & | tf1, | ||
const Vec3f & | P1, | ||
const Vec3f & | P2, | ||
const Vec3f & | P3, | ||
const Transform3f & | tf2, | ||
FCL_REAL & | distance, | ||
Vec3f & | p1, | ||
Vec3f & | p2, | ||
Vec3f & | normal | ||
) | const |
Definition at line 330 of file narrowphase.cpp.
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mutable |
smart guess
Definition at line 499 of file narrowphase.h.
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mutable |
Distance above which the GJK solver stoppes its computations and processes to an early stopping. The two witness points are incorrect, but with the guaranty that the two shapes have a distance greather than distance_upper_bound.
Definition at line 520 of file narrowphase.h.
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mutable |
Whether smart guess can be provided @Deprecated Use gjk_initial_guess instead.
Definition at line 496 of file narrowphase.h.
unsigned int hpp::fcl::GJKSolver::epa_max_face_num |
maximum number of simplex face used in EPA algorithm
Definition at line 476 of file narrowphase.h.
unsigned int hpp::fcl::GJKSolver::epa_max_iterations |
maximum number of iterations used for EPA iterations
Definition at line 482 of file narrowphase.h.
unsigned int hpp::fcl::GJKSolver::epa_max_vertex_num |
maximum number of simplex vertex used in EPA algorithm
Definition at line 479 of file narrowphase.h.
FCL_REAL hpp::fcl::GJKSolver::epa_tolerance |
the threshold used in EPA to stop iteration
Definition at line 485 of file narrowphase.h.
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mutable |
Criterion used to stop GJK.
Definition at line 508 of file narrowphase.h.
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mutable |
Relative or absolute.
Definition at line 511 of file narrowphase.h.
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mutable |
which warm start to use for GJK
Definition at line 502 of file narrowphase.h.
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mutable |
maximum number of iterations used for GJK iterations
Definition at line 491 of file narrowphase.h.
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mutable |
the threshold used in GJK to stop iteration
Definition at line 488 of file narrowphase.h.
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mutable |
Variant to use for the GJK algorithm.
Definition at line 505 of file narrowphase.h.
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mutable |
smart guess for the support function
Definition at line 514 of file narrowphase.h.