Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
hpp::fcl::ComputeCollision Class Reference

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...

#include <collision.h>

Public Member Functions

 ComputeCollision (const CollisionGeometry *o1, const CollisionGeometry *o2)
 Default constructor from two Collision Geometries. More...
 
bool operator!= (const ComputeCollision &other) const
 
std::size_t operator() (const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const
 
std::size_t operator() (const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result) const
 
bool operator== (const ComputeCollision &other) const
 
virtual ~ComputeCollision ()
 

Protected Member Functions

virtual std::size_t run (const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const
 

Protected Attributes

CollisionFunctionMatrix::CollisionFunc func
 
const CollisionGeometryo1
 
const CollisionGeometryo2
 
GJKSolver solver
 
bool swap_geoms
 

Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeCollision calc_collision (o1, o2);
std::size_t ncontacts = calc_collision(tf1, tf2, request, result);

Definition at line 103 of file collision.h.

Constructor & Destructor Documentation

◆ ComputeCollision()

hpp::fcl::ComputeCollision::ComputeCollision ( const CollisionGeometry o1,
const CollisionGeometry o2 
)

Default constructor from two Collision Geometries.

Definition at line 131 of file src/collision.cpp.

◆ ~ComputeCollision()

virtual hpp::fcl::ComputeCollision::~ComputeCollision ( )
inlinevirtual

Definition at line 129 of file collision.h.

Member Function Documentation

◆ operator!=()

bool hpp::fcl::ComputeCollision::operator!= ( const ComputeCollision other) const
inline

Definition at line 125 of file collision.h.

◆ operator()() [1/2]

std::size_t hpp::fcl::ComputeCollision::operator() ( const Transform3f tf1,
const Transform3f tf2,
const CollisionRequest request,
CollisionResult result 
) const

Definition at line 178 of file src/collision.cpp.

◆ operator()() [2/2]

std::size_t hpp::fcl::ComputeCollision::operator() ( const Transform3f tf1,
const Transform3f tf2,
CollisionRequest request,
CollisionResult result 
) const
inline

Definition at line 112 of file collision.h.

◆ operator==()

bool hpp::fcl::ComputeCollision::operator== ( const ComputeCollision other) const
inline

Definition at line 121 of file collision.h.

◆ run()

std::size_t hpp::fcl::ComputeCollision::run ( const Transform3f tf1,
const Transform3f tf2,
const CollisionRequest request,
CollisionResult result 
) const
protectedvirtual

Definition at line 159 of file src/collision.cpp.

Member Data Documentation

◆ func

CollisionFunctionMatrix::CollisionFunc hpp::fcl::ComputeCollision::func
protected

Definition at line 141 of file collision.h.

◆ o1

const CollisionGeometry* hpp::fcl::ComputeCollision::o1
mutableprotected

Definition at line 129 of file collision.h.

◆ o2

const CollisionGeometry* hpp::fcl::ComputeCollision::o2
mutableprotected

Definition at line 137 of file collision.h.

◆ solver

GJKSolver hpp::fcl::ComputeCollision::solver
mutableprotected

Definition at line 139 of file collision.h.

◆ swap_geoms

bool hpp::fcl::ComputeCollision::swap_geoms
protected

Definition at line 142 of file collision.h.


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


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:03