coal::ComputeContactPatch Class Reference

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

#include <contact_patch.h>

Public Member Functions
	ComputeContactPatch (const CollisionGeometry *o1, const CollisionGeometry *o2)
	Default constructor from two Collision Geometries. More...
bool	operator!= (const ComputeContactPatch &other) const
void	operator() (const Transform3s &tf1, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) const
bool	operator== (const ComputeContactPatch &other) const
virtual	~ComputeContactPatch ()=default

Protected Member Functions
virtual void	run (const Transform3s &tf1, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) const

Protected Attributes
ContactPatchSolver	csolver
ContactPatchFunctionMatrix::ContactPatchFunc	func
const CollisionGeometry *	o1
const CollisionGeometry *	o2
bool	swap_geoms

Detailed Description

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

Note

This needs to be called after collide or after ComputeCollision.

ComputeContactPatch calc_patch (o1, o2);
calc_patch(tf1, tf2, collision_result, patch_request, patch_result);

Definition at line 77 of file coal/contact_patch.h.

Constructor & Destructor Documentation

ComputeContactPatch()

coal::ComputeContactPatch::ComputeContactPatch	(	const CollisionGeometry *	o1,
		const CollisionGeometry *	o2
	)

Default constructor from two Collision Geometries.

Definition at line 107 of file src/contact_patch.cpp.

~ComputeContactPatch()

virtual coal::ComputeContactPatch::~ComputeContactPatch ( )

virtualdefault

Member Function Documentation

operator!=()

bool coal::ComputeContactPatch::operator!= ( const ComputeContactPatch &  other ) const

inline

Definition at line 92 of file coal/contact_patch.h.

operator()()

void coal::ComputeContactPatch::operator()	(	const Transform3s &	tf1,
		const Transform3s &	tf2,
		const CollisionResult &	collision_result,
		const ContactPatchRequest &	request,
		ContactPatchResult &	result
	)		const

Definition at line 160 of file src/contact_patch.cpp.

operator==()

bool coal::ComputeContactPatch::operator== ( const ComputeContactPatch &  other ) const

inline

Definition at line 87 of file coal/contact_patch.h.

run()

void coal::ComputeContactPatch::run ( const Transform3s &  tf1, const Transform3s &  tf2, const CollisionResult &  collision_result, const ContactPatchRequest &  request, ContactPatchResult &  result  ) const

protectedvirtual

Definition at line 139 of file src/contact_patch.cpp.

Member Data Documentation

csolver

ContactPatchSolver coal::ComputeContactPatch::csolver

mutableprotected

Definition at line 106 of file coal/contact_patch.h.

func

ContactPatchFunctionMatrix::ContactPatchFunc coal::ComputeContactPatch::func

protected

Definition at line 108 of file coal/contact_patch.h.

o1

const CollisionGeometry* coal::ComputeContactPatch::o1

mutableprotected

Definition at line 103 of file coal/contact_patch.h.

o2

const CollisionGeometry* coal::ComputeContactPatch::o2

mutableprotected

Definition at line 104 of file coal/contact_patch.h.

swap_geoms

bool coal::ComputeContactPatch::swap_geoms

protected

Definition at line 109 of file coal/contact_patch.h.

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

• coal/contact_patch.h
• src/contact_patch.cpp