88 lines
3.2 KiB
C
88 lines
3.2 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** @author Jia Pan */
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#ifndef FCL_PENETRATIONDEPTHREQUEST_H
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#define FCL_PENETRATIONDEPTHREQUEST_H
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#include "fcl/common/types.h"
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#include "fcl/narrowphase/gjk_solver.h"
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namespace fcl
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{
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enum PenetrationDepthType {PDT_TRANSLATIONAL, PDT_GENERAL_EULER, PDT_GENERAL_QUAT, PDT_GENERAL_EULER_BALL, PDT_GENERAL_QUAT_BALL};
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template <typename S>
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struct PenetrationDepthRequest
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{
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void* classifier;
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/// @brief PD algorithm type
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PenetrationDepthType pd_type;
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/// @brief gjk solver type
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GJKSolverType gjk_solver_type;
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Eigen::aligned_vector<Transform3<S>> contact_vectors;
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PenetrationDepthRequest(void* classifier_,
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PenetrationDepthType pd_type_ = PDT_TRANSLATIONAL,
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GJKSolverType gjk_solver_type_ = GST_LIBCCD);
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};
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//============================================================================//
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// //
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// Implementations //
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// //
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//============================================================================//
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//==============================================================================
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template <typename S>
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PenetrationDepthRequest<S>::PenetrationDepthRequest(
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void* classifier_,
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PenetrationDepthType pd_type_,
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GJKSolverType gjk_solver_type_)
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: classifier(classifier_),
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pd_type(pd_type_),
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gjk_solver_type(gjk_solver_type_)
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{
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}
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} // namespace fcl
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#endif
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