continuous_collision_request.h
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35 
38 #ifndef FCL_CONTINUOUSCOLLISIONREQUEST_H
39 #define FCL_CONTINUOUSCOLLISIONREQUEST_H
40 
41 #include <cstddef>
43 #include "fcl/export.h"
44 
45 namespace fcl
46 {
47 
50 
51 template <typename S>
52 struct FCL_EXPORT ContinuousCollisionRequest
53 {
55  std::size_t num_max_iterations;
56 
59 
62 
65 
68 
69  ContinuousCollisionRequest(std::size_t num_max_iterations_ = 10,
70  S toc_err_ = 0.0001,
71  CCDMotionType ccd_motion_type_ = CCDM_TRANS,
72  GJKSolverType gjk_solver_type_ = GST_LIBCCD,
73  CCDSolverType ccd_solver_type_ = CCDC_NAIVE);
74 
75 };
76 
79 
80 } // namespace fcl
81 
83 
84 #endif
fcl::CCDM_TRANS
@ CCDM_TRANS
Definition: continuous_collision_request.h:48
fcl::GJKSolverType
GJKSolverType
Type of narrow phase GJK solver.
Definition: gjk_solver_type.h:45
fcl::ContinuousCollisionRequest::toc_err
S toc_err
error in first contact time
Definition: continuous_collision_request.h:58
gjk_solver_type.h
fcl::ContinuousCollisionRequest
Definition: continuous_collision_request.h:52
fcl::CCDC_NAIVE
@ CCDC_NAIVE
Definition: continuous_collision_request.h:49
fcl::CCDC_CONSERVATIVE_ADVANCEMENT
@ CCDC_CONSERVATIVE_ADVANCEMENT
Definition: continuous_collision_request.h:49
fcl::ContinuousCollisionRequest::ccd_solver_type
CCDSolverType ccd_solver_type
ccd solver type
Definition: continuous_collision_request.h:67
fcl::ContinuousCollisionRequest::gjk_solver_type
GJKSolverType gjk_solver_type
gjk solver type
Definition: continuous_collision_request.h:64
fcl::CCDM_LINEAR
@ CCDM_LINEAR
Definition: continuous_collision_request.h:48
fcl::CCDMotionType
CCDMotionType
Definition: continuous_collision_request.h:48
fcl::CCDSolverType
CCDSolverType
Definition: continuous_collision_request.h:49
continuous_collision_request-inl.h
fcl::GST_LIBCCD
@ GST_LIBCCD
Definition: gjk_solver_type.h:45
fcl::CCDC_RAY_SHOOTING
@ CCDC_RAY_SHOOTING
Definition: continuous_collision_request.h:49
fcl::ContinuousCollisionRequest::num_max_iterations
std::size_t num_max_iterations
maximum num of iterations
Definition: continuous_collision_request.h:55
fcl::ContinuousCollisionRequest::ccd_motion_type
CCDMotionType ccd_motion_type
ccd motion type
Definition: continuous_collision_request.h:61
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::CCDM_SPLINE
@ CCDM_SPLINE
Definition: continuous_collision_request.h:48
fcl::CCDC_POLYNOMIAL_SOLVER
@ CCDC_POLYNOMIAL_SOLVER
Definition: continuous_collision_request.h:49
fcl::CCDM_SCREW
@ CCDM_SCREW
Definition: continuous_collision_request.h:48


fcl
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autogenerated on Tue Jun 22 2021 07:27:50