Struct CollisionCallBackBase

Inheritance Relationships

Base Type

  • public hpp::fcl::CollisionCallBackBase

Derived Type

Struct Documentation

struct CollisionCallBackBase : public hpp::fcl::CollisionCallBackBase

Interface for Pinocchio collision callback functors.

Subclassed by pinocchio::CollisionCallBackDefault

Public Functions

inline CollisionCallBackBase(const GeometryModel &geometry_model, GeometryData &geometry_data)
inline const GeometryModel &getGeometryModel() const
inline const GeometryData &getGeometryData() const
inline GeometryData &getGeometryData()
virtual bool stop() const = 0

If true, the stopping criteria related to the collision callback has been met and one can stop.

inline virtual void done()

Callback method called after the termination of a collisition detection algorithm. The default implementation does nothing.

Public Members

bool collision

Whether there is a collision or not.

bool accumulate

Whether the callback is used in an accumulate mode where several collide methods are called successively.

Protected Attributes

const GeometryModel *geometry_model_ptr

Geometry model associated to the callback.

GeometryData *geometry_data_ptr

Geometry data associated to the callback.