Struct QueryRequest

Defined in File collision_data.h

Inheritance Relationships

Derived Types

public hpp::fcl::CollisionRequest (Struct CollisionRequest)
public hpp::fcl::DistanceRequest (Struct DistanceRequest)

Struct Documentation

struct QueryRequest

base class for all query requests

Subclassed by hpp::fcl::CollisionRequest, hpp::fcl::DistanceRequest

Public Functions

inline HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS QueryRequest (): Default constructor.

QueryRequest(const QueryRequest &other) = default: Copy constructor.

QueryRequest &operator=(const QueryRequest &other) = default: Copy assignment operator.

inline HPP_FCL_COMPILER_DIAGNOSTIC_POP void updateGuess (const QueryResult &result)

inline bool operator==(const QueryRequest &other) const: whether two QueryRequest are the same or not

Public Members

GJKInitialGuess gjk_initial_guess

bool enable_cached_gjk_guess: whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead

GJKVariant gjk_variant: whether to enable the Nesterov accleration of GJK

GJKConvergenceCriterion gjk_convergence_criterion: convergence criterion used to stop GJK

GJKConvergenceCriterionType gjk_convergence_criterion_type: convergence criterion used to stop GJK

FCL_REAL gjk_tolerance: tolerance for the GJK algorithm

size_t gjk_max_iterations: maximum iteration for the GJK algorithm

Vec3f cached_gjk_guess: the gjk initial guess set by user

support_func_guess_t cached_support_func_guess: the support function initial guess set by user

bool enable_timings: enable timings when performing collision/distance request

FCL_REAL collision_distance_threshold: threshold below which a collision is considered.