Parameters for performing collision request. More...
#include <collision_request.h>
Public Types | |
typedef Eigen::NumTraits< S >::Real | Real |
Public Member Functions | |
CollisionRequest (size_t num_max_contacts_=1, bool enable_contact_=false, size_t num_max_cost_sources_=1, bool enable_cost_=false, bool use_approximate_cost_=true, GJKSolverType gjk_solver_type_=GST_LIBCCD, Real gjk_tolerance_=1e-6) | |
Default constructor. More... | |
bool | isSatisfied (const CollisionResult< S > &result) const |
Public Attributes | |
Vector3< S > | cached_gjk_guess |
The initial guess to use in the GJK algorithm. More... | |
bool | enable_cached_gjk_guess |
If true, uses the provided initial guess for the GJK algorithm. More... | |
bool | enable_contact |
If true, contact information (e.g., normal, penetration depth, and contact position) will be returned. More... | |
bool | enable_cost |
If true, the cost sources will be computed. More... | |
GJKSolverType | gjk_solver_type |
Enumeration indicating the GJK solver implementation to use. More... | |
Real | gjk_tolerance {1e-6} |
Numerical tolerance to use in the GJK algorithm. NOTE: The default value is currently set as 1e-6 to provide backwards compatibility; historically it has been 1e-6. Future code should provide a value that is consistent with the precision of S . More... | |
size_t | num_max_contacts |
The maximum number of contacts that can be returned. More... | |
size_t | num_max_cost_sources |
The maximum number of cost sources that can be returned. More... | |
bool | use_approximate_cost |
If true, the cost computation is approximated (if computed). More... | |
Parameters for performing collision request.
Definition at line 52 of file collision_request.h.
typedef Eigen::NumTraits<S>::Real fcl::CollisionRequest< S >::Real |
The underlying numerical representation of the request's scalar (e.g., float or double).
Definition at line 56 of file collision_request.h.
fcl::CollisionRequest< S >::CollisionRequest | ( | size_t | num_max_contacts_ = 1 , |
bool | enable_contact_ = false , |
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size_t | num_max_cost_sources_ = 1 , |
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bool | enable_cost_ = false , |
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bool | use_approximate_cost_ = true , |
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GJKSolverType | gjk_solver_type_ = GST_LIBCCD , |
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Real | gjk_tolerance_ = 1e-6 |
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) |
Default constructor.
Definition at line 54 of file collision_request-inl.h.
bool fcl::CollisionRequest< S >::isSatisfied | ( | const CollisionResult< S > & | result | ) | const |
Definition at line 77 of file collision_request-inl.h.
Vector3<S> fcl::CollisionRequest< S >::cached_gjk_guess |
The initial guess to use in the GJK algorithm.
Definition at line 86 of file collision_request.h.
bool fcl::CollisionRequest< S >::enable_cached_gjk_guess |
If true, uses the provided initial guess for the GJK algorithm.
Definition at line 83 of file collision_request.h.
bool fcl::CollisionRequest< S >::enable_contact |
If true, contact information (e.g., normal, penetration depth, and contact position) will be returned.
Definition at line 63 of file collision_request.h.
bool fcl::CollisionRequest< S >::enable_cost |
If true, the cost sources will be computed.
Definition at line 72 of file collision_request.h.
GJKSolverType fcl::CollisionRequest< S >::gjk_solver_type |
Enumeration indicating the GJK solver implementation to use.
Definition at line 78 of file collision_request.h.
Real fcl::CollisionRequest< S >::gjk_tolerance {1e-6} |
Numerical tolerance to use in the GJK algorithm. NOTE: The default value is currently set as 1e-6 to provide backwards compatibility; historically it has been 1e-6. Future code should provide a value that is consistent with the precision of S
.
Definition at line 94 of file collision_request.h.
size_t fcl::CollisionRequest< S >::num_max_contacts |
The maximum number of contacts that can be returned.
Definition at line 59 of file collision_request.h.
size_t fcl::CollisionRequest< S >::num_max_cost_sources |
The maximum number of cost sources that can be returned.
Definition at line 69 of file collision_request.h.
bool fcl::CollisionRequest< S >::use_approximate_cost |
If true, the cost computation is approximated (if computed).
Definition at line 75 of file collision_request.h.