Struct CollisionCallBackDefault

Inheritance Relationships

Base Type

Struct Documentation

struct CollisionCallBackDefault : public pinocchio::CollisionCallBackBase

Public Functions

inline CollisionCallBackDefault(const GeometryModel &geometry_model, GeometryData &geometry_data, bool stopAtFirstCollision = false)
inline void init()
inline bool collide(hpp::fcl::CollisionObject *o1, hpp::fcl::CollisionObject *o2)
inline virtual bool stop() const final

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

inline virtual void done() final

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

Public Members

bool stopAtFirstCollision

Whether to stop or not when localizing a first collision.

PairIndex collisionPairIndex

The collision index of the first pair in collision.

size_t count

Number of visits of the collide method.