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Humanoid Path Planner
hpp-fcl
Commits
02097412
Verified
Commit
02097412
authored
Apr 02, 2021
by
Justin Carpentier
Browse files
core: add enable_timings in QueryRequest
This will allows to enable/disable this feature if needed
parent
22e6ff9c
Changes
3
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Inline
Side-by-side
include/hpp/fcl/collision_data.h
View file @
02097412
...
...
@@ -145,11 +145,15 @@ struct HPP_FCL_DLLAPI QueryRequest
/// @brief the support function intial guess set by user
support_func_guess_t
cached_support_func_guess
;
/// @brief enable timings when performing collision/distance request
bool
enable_timings
;
QueryRequest
()
:
enable_cached_gjk_guess
(
false
),
cached_gjk_guess
(
1
,
0
,
0
),
cached_support_func_guess
(
support_func_guess_t
::
Zero
())
cached_support_func_guess
(
support_func_guess_t
::
Zero
()),
enable_timings
(
false
)
{}
void
updateGuess
(
const
QueryResult
&
result
);
...
...
@@ -159,7 +163,8 @@ struct HPP_FCL_DLLAPI QueryRequest
{
return
enable_cached_gjk_guess
==
other
.
enable_cached_gjk_guess
&&
cached_gjk_guess
==
other
.
cached_gjk_guess
&&
cached_support_func_guess
==
other
.
cached_support_func_guess
;
&&
cached_support_func_guess
==
other
.
cached_support_func_guess
&&
enable_timings
==
other
.
enable_timings
;
}
};
...
...
include/hpp/fcl/serialization/collision_data.h
View file @
02097412
...
...
@@ -49,6 +49,7 @@ namespace boost
ar
&
make_nvp
(
"enable_cached_gjk_guess"
,
query_request
.
enable_cached_gjk_guess
);
ar
&
make_nvp
(
"cached_gjk_guess"
,
query_request
.
cached_gjk_guess
);
ar
&
make_nvp
(
"cached_support_func_guess"
,
query_request
.
cached_support_func_guess
);
ar
&
make_nvp
(
"enable_timings"
,
query_request
.
enable_timings
);
}
template
<
class
Archive
>
...
...
python/collision.cc
View file @
02097412
...
...
@@ -98,6 +98,7 @@ void exposeCollisionAPI ()
.
DEF_RW_CLASS_ATTRIB
(
QueryRequest
,
enable_cached_gjk_guess
)
.
DEF_RW_CLASS_ATTRIB
(
QueryRequest
,
cached_gjk_guess
)
.
DEF_RW_CLASS_ATTRIB
(
QueryRequest
,
cached_support_func_guess
)
.
DEF_RW_CLASS_ATTRIB
(
QueryRequest
,
enable_timings
)
.
DEF_CLASS_FUNC
(
QueryRequest
,
updateGuess
)
;
}
...
...
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