Inheritance diagram for dart::collision::FCLCollisionDetector:

Collaboration diagram for dart::collision::FCLCollisionDetector:

Public Types
enum	PrimitiveShape { PRIMITIVE = 0, MESH }
	Whether to use analytic collision checking for primitive shapes. More...

enum	ContactPointComputationMethod { FCL = 0, DART }
	Whether to use FCL's contact point computation. More...

Public Types inherited from dart::collision::CollisionDetector
using	Factory = common::Factory< std::string, CollisionDetector, std::shared_ptr< CollisionDetector > >

using	SingletonFactory = common::Singleton< Factory >

template<typename Derived >
using	Registrar = common::FactoryRegistrar< std::string, CollisionDetector, Derived, std::shared_ptr< CollisionDetector > >

Public Member Functions
virtual	~FCLCollisionDetector ()
	Constructor.

std::shared_ptr< CollisionDetector >	cloneWithoutCollisionObjects () const override
	Create a clone of this CollisionDetector. More...

const std::string &	getType () const override
	Return collision detection engine type as a std::string.

std::unique_ptr< CollisionGroup >	createCollisionGroup () override
	Create a collision group.

bool	collide (CollisionGroup group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult result=nullptr) override
	Perform collision check for a single group. More...

bool	collide (CollisionGroup group1, CollisionGroup group2, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
	Perform collision check for two groups. More...

double	distance (CollisionGroup group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult result=nullptr) override
	Get the minimum signed distance between the Shape pairs in the given CollisionGroup. More...

double	distance (CollisionGroup group1, CollisionGroup group2, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
	Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2). More...

void	setPrimitiveShapeType (PrimitiveShape type)
	Set primitive shape type.

PrimitiveShape	getPrimitiveShapeType () const
	Get primitive shape type.

void	setContactPointComputationMethod (ContactPointComputationMethod method)
	Set contact point computation method.

ContactPointComputationMethod	getContactPointComputationMethod () const
	Get contact point computation method.

Public Member Functions inherited from dart::collision::CollisionDetector
virtual	~CollisionDetector ()=default
	Destructor.

std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr ()
	Helper function that creates and returns CollisionGroup as a shared_ptr. More...

template<typename... Args>
std::unique_ptr< CollisionGroup >	createCollisionGroup (const Args &... args)
	Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf(). More...

template<typename... Args>
std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr (const Args &... args)
	Helper function that creates and returns CollisionGroup as shared_ptr.

virtual bool	raycast (CollisionGroup group, const Eigen::Vector3d &from, const Eigen::Vector3d &to, const RaycastOption &option=RaycastOption(), RaycastResult result=nullptr)
	Performs raycast to a collision group. More...

Static Public Member Functions
static std::shared_ptr< FCLCollisionDetector >	create ()

static const std::string &	getStaticType ()
	Get collision detector type for this class.

Static Public Member Functions inherited from dart::collision::CollisionDetector
static Factory *	getFactory ()
	Returns the singleton factory.

Protected Member Functions
	FCLCollisionDetector ()
	Constructor.

std::unique_ptr< CollisionObject >	createCollisionObject (const dynamics::ShapeFrame *shapeFrame) override
	Create CollisionObject.

void	refreshCollisionObject (CollisionObject *object) override
	Update the collision geometry of a ShapeFrame.

std::shared_ptr< dart::collision::fcl::CollisionGeometry >	claimFCLCollisionGeometry (const dynamics::ConstShapePtr &shape)
	Return fcl::CollisionGeometry associated with give Shape. More...

Protected Member Functions inherited from dart::collision::CollisionDetector
	CollisionDetector ()=default
	Constructor.

std::shared_ptr< CollisionObject >	claimCollisionObject (const dynamics::ShapeFrame *shapeFrame)
	Claim CollisionObject associated with shapeFrame. More...

virtual void	notifyCollisionObjectDestroying (CollisionObject *object)
	Notify that a CollisionObject is destroying. Do nothing by default.

Protected Attributes
PrimitiveShape	mPrimitiveShapeType

ContactPointComputationMethod	mContactPointComputationMethod

Protected Attributes inherited from dart::collision::CollisionDetector
std::unique_ptr< CollisionObjectManager >	mCollisionObjectManager

Member Enumeration Documentation

◆ ContactPointComputationMethod

enum dart::collision::FCLCollisionDetector::ContactPointComputationMethod

Whether to use FCL's contact point computation.

FCL: Use FCL's contact point computation. DART: Use DART's own contact point computation

Warning: FCL's contact computation is not correct. See: https://github.com/flexible-collision-library/fcl/issues/106 We recommend using DART until it's fixed in FCL.

◆ PrimitiveShape

enum dart::collision::FCLCollisionDetector::PrimitiveShape

Whether to use analytic collision checking for primitive shapes.

PRIMITIVE: Use FCL's analytic collision checking for primitive shapes. MESH: Don't use it. Instead, use approximate mesh shapes for the primitive shapes. The contact result is probably less accurate than the analytic result.

Warning: FCL's primitive shape support is not complete. FCL 0.4.0 improved the support alot, but it still returns single contact point for a shape pair except for box-box collision. For this reason, we recommend using MESH until FCL fully supports primitive shapes.

Member Function Documentation

◆ claimFCLCollisionGeometry()

std::shared_ptr< fcl::CollisionGeometry > dart::collision::FCLCollisionDetector::claimFCLCollisionGeometry ( const dynamics::ConstShapePtr & shape )

protected

Return fcl::CollisionGeometry associated with give Shape.

New fcl::CollisionGeome will be created if it hasn't created yet.

◆ cloneWithoutCollisionObjects()

std::shared_ptr< CollisionDetector > dart::collision::FCLCollisionDetector::cloneWithoutCollisionObjects ( ) const

overridevirtual

Create a clone of this CollisionDetector.

All the properties will be copied over, but not collision objects.

Implements dart::collision::CollisionDetector.

◆ collide() [1/2]

bool dart::collision::FCLCollisionDetector::collide	(	CollisionGroup *	group,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

overridevirtual

Perform collision check for a single group.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ collide() [2/2]

bool dart::collision::FCLCollisionDetector::collide	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

overridevirtual

Perform collision check for two groups.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ distance() [1/2]

double dart::collision::FCLCollisionDetector::distance	(	CollisionGroup *	group,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

overridevirtual

Get the minimum signed distance between the Shape pairs in the given CollisionGroup.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implements dart::collision::CollisionDetector.

◆ distance() [2/2]

double dart::collision::FCLCollisionDetector::distance	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

overridevirtual

Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2).

Note that the distance between shapes within the same CollisionGroup are not accounted.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implements dart::collision::CollisionDetector.

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

dart/dynamics/fcl/FCLCollisionDetector.hpp
dart/dynamics/fcl/FCLCollisionDetector.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ ContactPointComputationMethod

◆ PrimitiveShape

Member Function Documentation

◆ claimFCLCollisionGeometry()

◆ cloneWithoutCollisionObjects()

◆ collide() [1/2]

◆ collide() [2/2]

◆ distance() [1/2]

◆ distance() [2/2]