Collision Checker
Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
collision::solvers::solverFCL Namespace Reference

Namespaces

 fcl_primitive_queries
 

Classes

class  BroadPhaseManagerFactory
 
struct  CollisionData
 Collision data stores the collision request and the result given by collision algorithm. More...
 
struct  CollisionDataEx
 
struct  CollisionDataListOfObstacles
 
struct  CollisionDataOverlap
 
struct  CollisionDataWindowQuery
 
class  CollisionRequestData
 
class  CollisionRequestDataMultipleObstacles
 
class  CollisionRequestDataOverlap
 
class  CollisionRequestDataWindowQuery
 
struct  DistanceData
 
struct  DistanceDataBase
 
class  DynamicAABBTreeManagerFactory
 
class  FCLCollisionChecker
 
class  FCLCollisionObject
 
class  FCLCollisionObjectGroup
 
class  FCLTransform
 
class  IFCLCollisionObject
 
class  IFCLCollisionObjectGroup
 
class  ISolverEntity_FCL
 
class  SolverEntity_FCL
 
struct  SolverEntity_FCLDeleter
 
struct  ToleranceDistanceData
 

Typedefs

typedef std::shared_ptr< BroadPhaseManagerFactory > BroadPhaseManagerFactoryPtr
 
typedef std::shared_ptr< const BroadPhaseManagerFactory > BroadPhaseManagerFactoryConstPtr
 
typedef std::shared_ptr< const FCLCollisionObject > FCLCollisionObjectConstPtr
 
typedef double FCL_PRECISION
 
typedef std::shared_ptr< SolverEntity_FCL > FCLSolverEntityPtr
 

Enumerations

enum  FCL_TOLERANCE_CHECK_TYPE { TOLERANCE_CHECK_NARROWPHASE = 0, TOLERANCE_CHECK_BB = 1 }
 
enum  FCL_COLLISION_ENTITY_TYPE {
  FCL_COLLISION_ENTITY_TYPE_INVALID = -1, FCL_COLLISION_ENTITY_TYPE_UNKNOWN = 0, COLLISION_ENTITY_TYPE_FCL_OBJECT = 200, COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP = 201,
  FCL_COLLISION_ENTITY_TYPE_TVOBJECT = 202
}
 

Functions

std::size_t collide_obj_obj (const CollisionObject &obj1, const CollisionObject &obj2, CollisionResult &res, const CollisionRequest &req)
 
std::size_t collide_shape_group_obj (const CollisionObject &obj1, const CollisionObject &obj2, CollisionResult &res, const CollisionRequest &req)
 
std::size_t collide_obj_shape_group (const CollisionObject &obj1, const CollisionObject &obj2, CollisionResult &res, const CollisionRequest &req)
 
std::size_t collide_shape_group_shape_group (const CollisionObject &obj1, const CollisionObject &obj2, CollisionResult &res, const CollisionRequest &req)
 
std::size_t collide_tvobst_obj (const CollisionObject &obj1, const CollisionObject &obj2, CollisionResult &res, const CollisionRequest &req)
 
std::size_t collide_obj_tvobst (const CollisionObject &obj1, const CollisionObject &obj2, CollisionResult &res, const CollisionRequest &req)
 
std::size_t collide_tvobst_tvobst (const CollisionObject &obj1, const CollisionObject &obj2, CollisionResult &res, const CollisionRequest &req)
 
BroadPhaseManagerFactoryConstPtr getDefaultBroadphaseFactory (void)
 
CollisionObject * getParentPointerFromFclObj (fcl::CollisionObject< FCL_PRECISION > *fcl_obj)
 
template<typename S >
bool defaultCollisionFunctionWindowQuery (fcl::CollisionObject< S > *o1, fcl::CollisionObject< S > *o2, void *cdata_)
 
template<typename S >
bool defaultCollisionFunction (fcl::CollisionObject< S > *o1, fcl::CollisionObject< S > *o2, void *cdata_)
 
template<typename S >
bool defaultCollisionFunctionOverlap (fcl::CollisionObject< S > *o1, fcl::CollisionObject< S > *o2, void *cdata_)
 
template<typename S >
bool defaultCollisionFunctionListOfObstacles (fcl::CollisionObject< S > *o1, fcl::CollisionObject< S > *o2, void *cdata_)
 
double penetrationDepth (fcl::AABBd boxA, fcl::AABBd boxB)
 
bool defaultDistanceFunction (fcl::CollisionObject< FCL_PRECISION > *o1, fcl::CollisionObject< FCL_PRECISION > *o2, void *cdata_, FCL_PRECISION &dist)
 
bool toleranceDistanceFunction (fcl::CollisionObject< FCL_PRECISION > *o1, fcl::CollisionObject< FCL_PRECISION > *o2, void *cdata_, FCL_PRECISION &dist)
 
bool toleranceBBDistanceFunction (fcl::CollisionObject< FCL_PRECISION > *o1, fcl::CollisionObject< FCL_PRECISION > *o2, void *cdata_, FCL_PRECISION &dist)
 
FCL_PRECISION get_max_distance (void)
 
FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type (const CollisionObject *obj2)
 
const FCLCollisionObjectGroup * get_fcl_object_group_ptr (const CollisionObject *obj)
 
const FCLCollisionObject * get_fcl_object_ptr (const CollisionObject *obj)
 
FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type (CollisionObjectConstPtr obj2, SolverEntity_FCL *&req_entity)
 
FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type (const CollisionObject *obj2, SolverEntity_FCL *&req_entity)
 
SolverEntity_FCL * createFCLSolverEntity (const CollisionObjectEx *obj)
 
void initialize_default_broadphase_factory (void)
 
SolverEntity_FCL * createFCLSolverEntity (CollisionObject *obj, ISolverEntity_FCL *entity)
 

Variables

BroadPhaseManagerFactoryConstPtr defaultFactory
 
CollisionObjectConstPtr errObj
 

Typedef Documentation

◆ BroadPhaseManagerFactoryConstPtr

typedef std::shared_ptr<const BroadPhaseManagerFactory> collision::solvers::solverFCL::BroadPhaseManagerFactoryConstPtr

Definition at line 28 of file fcl_broadphase_manager_factory.h.

◆ BroadPhaseManagerFactoryPtr

typedef std::shared_ptr<BroadPhaseManagerFactory> collision::solvers::solverFCL::BroadPhaseManagerFactoryPtr

Definition at line 26 of file fcl_broadphase_manager_factory.h.

◆ FCL_PRECISION

typedef double collision::solvers::solverFCL::FCL_PRECISION

Definition at line 7 of file fcl_decl.h.

◆ FCLCollisionObjectConstPtr

typedef std::shared_ptr<const FCLCollisionObject> collision::solvers::solverFCL::FCLCollisionObjectConstPtr

Definition at line 76 of file fcl_collision_object.h.

◆ FCLSolverEntityPtr

typedef std::shared_ptr<SolverEntity_FCL> collision::solvers::solverFCL::FCLSolverEntityPtr

Definition at line 19 of file solver_entity_fcl.h.

Enumeration Type Documentation

◆ FCL_COLLISION_ENTITY_TYPE

enum collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE
Enumerator
FCL_COLLISION_ENTITY_TYPE_INVALID 
FCL_COLLISION_ENTITY_TYPE_UNKNOWN 
COLLISION_ENTITY_TYPE_FCL_OBJECT 
COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP 
FCL_COLLISION_ENTITY_TYPE_TVOBJECT 

Definition at line 7 of file fcl_entity_type.h.

◆ FCL_TOLERANCE_CHECK_TYPE

enum collision::solvers::solverFCL::FCL_TOLERANCE_CHECK_TYPE
Enumerator
TOLERANCE_CHECK_NARROWPHASE 
TOLERANCE_CHECK_BB 

Definition at line 13 of file fcl_decl.h.

Function Documentation

◆ collide_obj_obj()

std::size_t collision::solvers::solverFCL::collide_obj_obj ( const CollisionObject &  obj1,
const CollisionObject &  obj2,
CollisionResult &  res,
const CollisionRequest &  req 
)

Definition at line 13 of file collision_solver_fcl.cc.

◆ collide_obj_shape_group()

std::size_t collision::solvers::solverFCL::collide_obj_shape_group ( const CollisionObject &  obj1,
const CollisionObject &  obj2,
CollisionResult &  res,
const CollisionRequest &  req 
)

Definition at line 35 of file collision_solver_fcl.cc.

◆ collide_obj_tvobst()

std::size_t collision::solvers::solverFCL::collide_obj_tvobst ( const CollisionObject &  obj1,
const CollisionObject &  obj2,
CollisionResult &  res,
const CollisionRequest &  req 
)

Definition at line 87 of file collision_solver_fcl.cc.

◆ collide_shape_group_obj()

std::size_t collision::solvers::solverFCL::collide_shape_group_obj ( const CollisionObject &  obj1,
const CollisionObject &  obj2,
CollisionResult &  res,
const CollisionRequest &  req 
)

Definition at line 24 of file collision_solver_fcl.cc.

◆ collide_shape_group_shape_group()

std::size_t collision::solvers::solverFCL::collide_shape_group_shape_group ( const CollisionObject &  obj1,
const CollisionObject &  obj2,
CollisionResult &  res,
const CollisionRequest &  req 
)

Definition at line 41 of file collision_solver_fcl.cc.

◆ collide_tvobst_obj()

std::size_t collision::solvers::solverFCL::collide_tvobst_obj ( const CollisionObject &  obj1,
const CollisionObject &  obj2,
CollisionResult &  res,
const CollisionRequest &  req 
)

Definition at line 54 of file collision_solver_fcl.cc.

◆ collide_tvobst_tvobst()

std::size_t collision::solvers::solverFCL::collide_tvobst_tvobst ( const CollisionObject &  obj1,
const CollisionObject &  obj2,
CollisionResult &  res,
const CollisionRequest &  req 
)

Definition at line 94 of file collision_solver_fcl.cc.

◆ createFCLSolverEntity() [1/2]

SolverEntity_FCL* collision::solvers::solverFCL::createFCLSolverEntity ( CollisionObject *  obj,
ISolverEntity_FCL *  entity 
)

Definition at line 11 of file fcl_entity_factory.cc.

◆ createFCLSolverEntity() [2/2]

SolverEntity_FCL* collision::solvers::solverFCL::createFCLSolverEntity ( const CollisionObjectEx *  obj)

Definition at line 13 of file solver_entity_fcl_factory.h.

◆ defaultCollisionFunction()

template<typename S >
bool collision::solvers::solverFCL::defaultCollisionFunction ( fcl::CollisionObject< S > *  o1,
fcl::CollisionObject< S > *  o2,
void *  cdata_ 
)

Definition at line 257 of file fcl_collision_requests.h.

◆ defaultCollisionFunctionListOfObstacles()

template<typename S >
bool collision::solvers::solverFCL::defaultCollisionFunctionListOfObstacles ( fcl::CollisionObject< S > *  o1,
fcl::CollisionObject< S > *  o2,
void *  cdata_ 
)

Definition at line 353 of file fcl_collision_requests.h.

◆ defaultCollisionFunctionOverlap()

template<typename S >
bool collision::solvers::solverFCL::defaultCollisionFunctionOverlap ( fcl::CollisionObject< S > *  o1,
fcl::CollisionObject< S > *  o2,
void *  cdata_ 
)

Definition at line 275 of file fcl_collision_requests.h.

◆ defaultCollisionFunctionWindowQuery()

template<typename S >
bool collision::solvers::solverFCL::defaultCollisionFunctionWindowQuery ( fcl::CollisionObject< S > *  o1,
fcl::CollisionObject< S > *  o2,
void *  cdata_ 
)

Definition at line 210 of file fcl_collision_requests.h.

◆ defaultDistanceFunction()

bool collision::solvers::solverFCL::defaultDistanceFunction ( fcl::CollisionObject< FCL_PRECISION > *  o1,
fcl::CollisionObject< FCL_PRECISION > *  o2,
void *  cdata_,
FCL_PRECISION &  dist 
)

Definition at line 7 of file fcl_distance_requests.cc.

◆ get_fcl_object_group_ptr()

const FCLCollisionObjectGroup* collision::solvers::solverFCL::get_fcl_object_group_ptr ( const CollisionObject *  obj)
inline

Definition at line 27 of file fcl_helpers.h.

◆ get_fcl_object_ptr()

const FCLCollisionObject* collision::solvers::solverFCL::get_fcl_object_ptr ( const CollisionObject *  obj)
inline

Definition at line 40 of file fcl_helpers.h.

◆ get_max_distance()

FCL_PRECISION collision::solvers::solverFCL::get_max_distance ( void  )

Definition at line 107 of file fcl_distance_requests.cc.

◆ get_object_fcl_entity_type() [1/3]

FCL_COLLISION_ENTITY_TYPE collision::solvers::solverFCL::get_object_fcl_entity_type ( const CollisionObject *  obj2)
inline

Definition at line 11 of file fcl_helpers.h.

◆ get_object_fcl_entity_type() [2/3]

FCL_COLLISION_ENTITY_TYPE collision::solvers::solverFCL::get_object_fcl_entity_type ( CollisionObjectConstPtr  obj2,
SolverEntity_FCL *&  req_entity 
)
inline

Definition at line 54 of file fcl_helpers.h.

◆ get_object_fcl_entity_type() [3/3]

FCL_COLLISION_ENTITY_TYPE collision::solvers::solverFCL::get_object_fcl_entity_type ( const CollisionObject *  obj2,
SolverEntity_FCL *&  req_entity 
)
inline

Definition at line 70 of file fcl_helpers.h.

◆ getDefaultBroadphaseFactory()

BroadPhaseManagerFactoryConstPtr collision::solvers::solverFCL::getDefaultBroadphaseFactory ( void  )

Definition at line 14 of file fcl_broadphase_manager_factories.cc.

◆ getParentPointerFromFclObj()

CollisionObject * collision::solvers::solverFCL::getParentPointerFromFclObj ( fcl::CollisionObject< FCL_PRECISION > *  fcl_obj)

Definition at line 10 of file fcl_collision_queries.cc.

◆ initialize_default_broadphase_factory()

void collision::solvers::solverFCL::initialize_default_broadphase_factory ( void  )

Definition at line 9 of file fcl_broadphase_manager_factories.cc.

◆ penetrationDepth()

double collision::solvers::solverFCL::penetrationDepth ( fcl::AABBd  boxA,
fcl::AABBd  boxB 
)

Definition at line 31 of file fcl_distance_requests.cc.

◆ toleranceBBDistanceFunction()

bool collision::solvers::solverFCL::toleranceBBDistanceFunction ( fcl::CollisionObject< FCL_PRECISION > *  o1,
fcl::CollisionObject< FCL_PRECISION > *  o2,
void *  cdata_,
FCL_PRECISION &  dist 
)

Definition at line 53 of file fcl_distance_requests.cc.

◆ toleranceDistanceFunction()

bool collision::solvers::solverFCL::toleranceDistanceFunction ( fcl::CollisionObject< FCL_PRECISION > *  o1,
fcl::CollisionObject< FCL_PRECISION > *  o2,
void *  cdata_,
FCL_PRECISION &  dist 
)

Definition at line 80 of file fcl_distance_requests.cc.

Variable Documentation

◆ defaultFactory

BroadPhaseManagerFactoryConstPtr collision::solvers::solverFCL::defaultFactory

Definition at line 7 of file fcl_broadphase_manager_factories.cc.

◆ errObj

CollisionObjectConstPtr collision::solvers::solverFCL::errObj

Definition at line 8 of file fcl_collision_queries.cc.