FCL  0.6.0
Flexible Collision Library
collision_request-inl.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_COLLISIONREQUEST_INL_H
39 #define FCL_COLLISIONREQUEST_INL_H
40 
41 #include "fcl/narrowphase/collision_request.h"
42 
43 #include "fcl/narrowphase/collision_result.h"
44 
45 namespace fcl
46 {
47 
48 //==============================================================================
49 extern template
50 struct CollisionRequest<double>;
51 
52 //==============================================================================
53 template <typename S>
54 CollisionRequest<S>::CollisionRequest(
55  size_t num_max_contacts_,
56  bool enable_contact_,
57  size_t num_max_cost_sources_,
58  bool enable_cost_,
59  bool use_approximate_cost_,
60  GJKSolverType gjk_solver_type_)
61  : num_max_contacts(num_max_contacts_),
62  enable_contact(enable_contact_),
63  num_max_cost_sources(num_max_cost_sources_),
64  enable_cost(enable_cost_),
65  use_approximate_cost(use_approximate_cost_),
66  gjk_solver_type(gjk_solver_type_),
67  enable_cached_gjk_guess(false),
68  cached_gjk_guess(Vector3<S>::UnitX())
69 {
70  // Do nothing
71 }
72 
73 //==============================================================================
74 template <typename S>
75 bool CollisionRequest<S>::isSatisfied(
76  const CollisionResult<S>& result) const
77 {
78  return (!enable_cost)
79  && result.isCollision()
80  && (num_max_contacts <= result.numContacts());
81 }
82 
83 } // namespace fcl
84 
85 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
GJKSolverType
Type of narrow phase GJK solver.
Definition: gjk_solver_type.h:45