FCL  0.6.0
Flexible Collision Library
continuous_collision_request.h
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35 
38 #ifndef FCL_CONTINUOUSCOLLISIONREQUEST_H
39 #define FCL_CONTINUOUSCOLLISIONREQUEST_H
40 
41 #include <cstddef>
42 #include "fcl/narrowphase/gjk_solver_type.h"
43 
44 namespace fcl
45 {
46 
47 enum CCDMotionType {CCDM_TRANS, CCDM_LINEAR, CCDM_SCREW, CCDM_SPLINE};
48 enum CCDSolverType {CCDC_NAIVE, CCDC_CONSERVATIVE_ADVANCEMENT, CCDC_RAY_SHOOTING, CCDC_POLYNOMIAL_SOLVER};
49 
50 template <typename S>
52 {
54  std::size_t num_max_iterations;
55 
58 
60  CCDMotionType ccd_motion_type;
61 
64 
66  CCDSolverType ccd_solver_type;
67 
68  ContinuousCollisionRequest(std::size_t num_max_iterations_ = 10,
69  S toc_err_ = 0.0001,
70  CCDMotionType ccd_motion_type_ = CCDM_TRANS,
71  GJKSolverType gjk_solver_type_ = GST_LIBCCD,
72  CCDSolverType ccd_solver_type_ = CCDC_NAIVE);
73 
74 };
75 
78 
79 } // namespace fcl
80 
81 #include "fcl/narrowphase/continuous_collision_request-inl.h"
82 
83 #endif
std::size_t num_max_iterations
maximum num of iterations
Definition: continuous_collision_request.h:54
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Definition: continuous_collision_request.h:51
GJKSolverType gjk_solver_type
gjk solver type
Definition: continuous_collision_request.h:63
CCDMotionType ccd_motion_type
ccd motion type
Definition: continuous_collision_request.h:60
S toc_err
error in first contact time
Definition: continuous_collision_request.h:57
GJKSolverType
Type of narrow phase GJK solver.
Definition: gjk_solver_type.h:45
CCDSolverType ccd_solver_type
ccd solver type
Definition: continuous_collision_request.h:66