include
fcl
narrowphase
continuous_collision_request.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef FCL_CONTINUOUSCOLLISIONREQUEST_H
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#define FCL_CONTINUOUSCOLLISIONREQUEST_H
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#include <cstddef>
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#include "
fcl/narrowphase/gjk_solver_type.h
"
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#include "fcl/export.h"
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namespace
fcl
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{
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enum
CCDMotionType
{
CCDM_TRANS
,
CCDM_LINEAR
,
CCDM_SCREW
,
CCDM_SPLINE
};
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enum
CCDSolverType
{
CCDC_NAIVE
,
CCDC_CONSERVATIVE_ADVANCEMENT
,
CCDC_RAY_SHOOTING
,
CCDC_POLYNOMIAL_SOLVER
};
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template
<
typename
S>
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struct
FCL_EXPORT
ContinuousCollisionRequest
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{
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std::size_t
num_max_iterations
;
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S
toc_err
;
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CCDMotionType
ccd_motion_type
;
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GJKSolverType
gjk_solver_type
;
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CCDSolverType
ccd_solver_type
;
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ContinuousCollisionRequest
(std::size_t num_max_iterations_ = 10,
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S toc_err_ = 0.0001,
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CCDMotionType
ccd_motion_type_ =
CCDM_TRANS
,
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GJKSolverType
gjk_solver_type_ =
GST_LIBCCD
,
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CCDSolverType
ccd_solver_type_ =
CCDC_NAIVE
);
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};
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using
ContinuousCollisionRequestf
=
ContinuousCollisionRequest<float>
;
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using
ContinuousCollisionRequestd
=
ContinuousCollisionRequest<double>
;
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}
// namespace fcl
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#include "
fcl/narrowphase/continuous_collision_request-inl.h
"
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#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
Author(s):
autogenerated on Tue Dec 5 2023 03:40:48