collision_data.cpp 2.49 KB
Newer Older
sachinc's avatar
sachinc committed
1
2
3
/*
 * Software License Agreement (BSD License)
 *
4
5
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
sachinc's avatar
sachinc committed
6
7
8
9
10
11
12
13
14
15
16
17
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
18
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
sachinc's avatar
sachinc committed
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

38
#include <hpp/fcl/collision_data.h>
sachinc's avatar
sachinc committed
39

40
41
namespace hpp
{
42
43
namespace fcl
{
sachinc's avatar
sachinc committed
44

45
46
bool CollisionRequest::isSatisfied(const CollisionResult& result) const
{
47
  return result.isCollision() && (num_max_contacts <= result.numContacts());
48
49
50
51
52
53
54
}

bool DistanceRequest::isSatisfied(const DistanceResult& result) const
{
  return (result.min_distance <= 0);
}

55
56
57
  CollisionRequest::CollisionRequest
  (size_t num_max_contacts_, bool enable_contact_,
   bool enable_distance_lower_bound_, size_t /*num_max_cost_sources_*/,
58
   bool /*enable_cost_*/, bool /*use_approximate_cost_*/) :
59
60
61
62
63
    num_max_contacts(num_max_contacts_),
    enable_contact(enable_contact_),
    enable_distance_lower_bound (enable_distance_lower_bound_),
    security_margin (0),
    break_distance (1e-3)
64
  {}
65
}
66
67

} // namespace hpp