hpp-fcl: hpp::fcl::ComputeCollision Class Reference

hpp-fcl 1.6.0 HPP fork of FCL -- The Flexible Collision Library

Public Member Functions | List of all members
hpp::fcl::ComputeCollision Class Reference

`#include <hpp/fcl/collision.h>`

## Public Member Functions
| ComputeCollision (const CollisionGeometry *o1, const CollisionGeometry *o2)
std::size_t | operator() (const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
std::size_t | operator() (const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result)

## Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeCollision calc_collision (o1, o2);
std::size_t ncontacts = calc_collision(tf1, tf2, request, result);

## Constructor & Destructor Documentation

## ◆ ComputeCollision()

hpp::fcl::ComputeCollision::ComputeCollision | ( | const CollisionGeometry * | o1,
|  | const CollisionGeometry * | o2
| ) |  |

## Member Function Documentation

## ◆ operator()() [1/2]

std::size_t hpp::fcl::ComputeCollision::operator() | ( | const Transform3f & | tf1,
|  | const Transform3f & | tf2,
|  | CollisionRequest & | request,
|  | CollisionResult & | result
| ) |  |
| inline

## ◆ operator()() [2/2]

std::size_t hpp::fcl::ComputeCollision::operator() | ( | const Transform3f & | tf1,
|  | const Transform3f & | tf2,
|  | const CollisionRequest & | request,
|  | CollisionResult & | result
| ) |  |
| inline

The documentation for this class was generated from the following file:

- include/hpp/fcl/collision.h

hpp::fcl::ComputeCollision::ComputeCollision
ComputeCollision(const CollisionGeometry *o1, const CollisionGeometry *o2)