diff --git a/include/hpp/fcl/collision_data.h b/include/hpp/fcl/collision_data.h
index d940292ad3c72096af89090be1e210011f5c13b7..002e0781a2577d21b3c44d17a55dc9536e3be3a0 100644
--- a/include/hpp/fcl/collision_data.h
+++ b/include/hpp/fcl/collision_data.h
@@ -164,11 +164,15 @@ struct CollisionRequest
size_t num_max_cost_sources_ = 1,
bool enable_cost_ = false,
bool use_approximate_cost_ = true,
- GJKSolverType gjk_solver_type_ = GST_INDEP) :
- num_max_contacts(num_max_contacts_),
+ GJKSolverType gjk_solver_type_ = GST_INDEP)
+ HPP_FCL_DEPRECATED;
+
+ CollisionRequest(bool enable_contact_, size_t num_max_contacts_,
+ bool enable_distance_lower_bound_) :
+ num_max_contacts(num_max_contacts_),
enable_contact(enable_contact_),
enable_distance_lower_bound (enable_distance_lower_bound_),
- gjk_solver_type(gjk_solver_type_),
+ gjk_solver_type(GST_INDEP),
security_margin (0),
break_distance (1e-3)
{
diff --git a/src/collision_data.cpp b/src/collision_data.cpp
index db087d0acacbe20f52b6d59cb04c5738a5dd3f27..2875d6c93ba647ffababb7622104d7dc8d55a989 100644
--- a/src/collision_data.cpp
+++ b/src/collision_data.cpp
@@ -50,4 +50,19 @@ bool DistanceRequest::isSatisfied(const DistanceResult& result) const
return (result.min_distance <= 0);
}
+ CollisionRequest::CollisionRequest
+ (size_t num_max_contacts_, bool enable_contact_,
+ bool enable_distance_lower_bound_, size_t /*num_max_cost_sources_*/,
+ bool /*enable_cost_*/, bool /*use_approximate_cost_*/,
+ GJKSolverType gjk_solver_type_) :
+ num_max_contacts(num_max_contacts_),
+ enable_contact(enable_contact_),
+ enable_distance_lower_bound (enable_distance_lower_bound_),
+ gjk_solver_type(gjk_solver_type_),
+ security_margin (0),
+ break_distance (1e-3)
+ {
+ enable_cached_gjk_guess = false;
+ cached_gjk_guess = Vec3f(1, 0, 0);
+ }
}
diff --git a/test/benchmark.cpp b/test/benchmark.cpp
index 28571253dd744714640da7a471bef6fca8abeb71..eae31f235e24fc86c8316cab8f11af7be1a625f2 100644
--- a/test/benchmark.cpp
+++ b/test/benchmark.cpp
@@ -117,8 +117,8 @@ double collide (const std::vector<Transform3f>& tf,
Transform3f pose2;
CollisionResult local_result;
- CollisionRequest request;
- TraversalNode node(false);
+ CollisionRequest request (false, 1, false);
+ TraversalNode node (request);
node.enable_statistics = verbose;
@@ -129,7 +129,6 @@ double collide (const std::vector<Transform3f>& tf,
bool success (initialize(node, m1, tf[i], m2, pose2, local_result));
assert (success);
- CollisionRequest request (1, true, true);
CollisionResult result;
collide(&node, request, result);
}
diff --git a/test/general_test.cpp b/test/general_test.cpp
index e8edfb0459f45442489d01ebc977fa99e4a031d7..110bae2ff24d8d98d2a60b2ebf6005983c3e2a9e 100644
--- a/test/general_test.cpp
+++ b/test/general_test.cpp
@@ -36,8 +36,7 @@ int main(int argc, char** argv)
static const int num_max_contacts = std::numeric_limits<int>::max();
static const bool enable_contact = true;
fcl::CollisionResult result;
- fcl::CollisionRequest request(num_max_contacts,
- enable_contact);
+ fcl::CollisionRequest request(enable_contact, num_max_contacts, false);
CollisionObject co0(box0, tf0);
@@ -51,4 +50,4 @@ int main(int argc, char** argv)
BOOST_FOREACH(Contact& contact, contacts) {
cout << "position: " << contact.pos << endl;
}
-}
\ No newline at end of file
+}
diff --git a/test/test_fcl_collision.cpp b/test/test_fcl_collision.cpp
index 18328ea80639ba88e0b54cafd91dc0718d6c1db3..f5c98fc145a13024e5268ed0e70a1d31378e3756 100644
--- a/test/test_fcl_collision.cpp
+++ b/test/test_fcl_collision.cpp
@@ -833,7 +833,7 @@ bool collide_Test2(const Transform3f& tf,
Transform3f pose1, pose2;
CollisionResult local_result;
- CollisionRequest request (num_max_contacts, enable_contact);
+ CollisionRequest request (enable_contact, num_max_contacts, false);
MeshCollisionTraversalNode<BV> node (request);
bool success = initialize <BV> (node, m1, pose1, m2, pose2, local_result);
@@ -891,7 +891,7 @@ bool collide_Test(const Transform3f& tf,
Transform3f pose1(tf), pose2;
CollisionResult local_result;
- CollisionRequest request (num_max_contacts, enable_contact);
+ CollisionRequest request (enable_contact, num_max_contacts, false);
MeshCollisionTraversalNode<BV> node (request);
bool success = initialize <BV> (node, m1, pose1, m2, pose2, local_result);
@@ -948,7 +948,7 @@ bool collide_Test_Oriented(const Transform3f& tf,
Transform3f pose1(tf), pose2;
CollisionResult local_result;
- CollisionRequest request (num_max_contacts, enable_contact);
+ CollisionRequest request (enable_contact, num_max_contacts, false);
TraversalNode node (request);
bool success = initialize (node, (const BVHModel<BV>&)m1, pose1,
(const BVHModel<BV>&)m2, pose2, local_result);
@@ -1007,7 +1007,7 @@ bool test_collide_func(const Transform3f& tf,
std::vector<Contact> contacts;
- CollisionRequest request(num_max_contacts, enable_contact);
+ CollisionRequest request (enable_contact, num_max_contacts, false);
CollisionResult result;
int num_contacts = collide(&m1, pose1, &m2, pose2,
request, result);
diff --git a/test/test_fcl_distance.cpp b/test/test_fcl_distance.cpp
index ea98c723235239ec95bd71c0cda32e2d717c465d..891f091efa539e8cb3f191194fc8c6cba10c5191 100644
--- a/test/test_fcl_distance.cpp
+++ b/test/test_fcl_distance.cpp
@@ -413,7 +413,7 @@ bool collide_Test_OBB(const Transform3f& tf,
m2.endModel();
CollisionResult local_result;
- CollisionRequest request (1, true, true);
+ CollisionRequest request (true, 1, true);
MeshCollisionTraversalNodeOBB node (request);
bool success (initialize(node, (const BVHModel<OBB>&)m1, tf,
(const BVHModel<OBB>&)m2, Transform3f(),
diff --git a/test/test_fcl_distance_lower_bound.cpp b/test/test_fcl_distance_lower_bound.cpp
index b7758b1b09aa073ad925f5e7301bfecca9973201..3f80a035d385114a189f1fd59d10031038a64d61 100644
--- a/test/test_fcl_distance_lower_bound.cpp
+++ b/test/test_fcl_distance_lower_bound.cpp
@@ -68,7 +68,7 @@ bool testDistanceLowerBound (const Transform3f& tf,
{
Transform3f pose1(tf), pose2;
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
request.enable_distance_lower_bound = true;
CollisionResult result;
@@ -86,7 +86,7 @@ bool testCollide (const Transform3f& tf, const CollisionGeometryPtr_t& m1,
{
Transform3f pose1(tf), pose2;
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
request.enable_distance_lower_bound = false;
CollisionResult result;
@@ -141,7 +141,6 @@ BOOST_AUTO_TEST_CASE(mesh_mesh)
std::vector<Transform3f> transforms;
FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
std::size_t n = 100;
- bool verbose = false;
generateRandomTransforms(extents, transforms, n);
diff --git a/test/test_fcl_frontlist.cpp b/test/test_fcl_frontlist.cpp
index 831c26a9071be4876445c38a2b145327450da904..7845d40b68dff381d51d1d214965c21f4652d841 100644
--- a/test/test_fcl_frontlist.cpp
+++ b/test/test_fcl_frontlist.cpp
@@ -229,7 +229,7 @@ bool collide_front_list_Test(const Transform3f& tf1, const Transform3f& tf2,
Transform3f pose1, pose2;
CollisionResult local_result;
- CollisionRequest request (std::numeric_limits<int>::max(), false);
+ CollisionRequest request (false, std::numeric_limits<int>::max());
MeshCollisionTraversalNode<BV> node (request);
bool success = initialize <BV>(node, m1, pose1, m2, pose2, local_result);
@@ -292,7 +292,7 @@ bool collide_front_list_Test_Oriented(const Transform3f& tf1, const Transform3f&
Transform3f pose1(tf1), pose2;
CollisionResult local_result;
- CollisionRequest request (std::numeric_limits<int>::max(), false);
+ CollisionRequest request (false, std::numeric_limits<int>::max());
TraversalNode node (request);
bool success = initialize (node, (const BVHModel<BV>&)m1, pose1,
@@ -343,7 +343,7 @@ bool collide_Test(const Transform3f& tf,
Transform3f pose1(tf), pose2;
CollisionResult local_result;
- CollisionRequest request (std::numeric_limits<int>::max(), false);
+ CollisionRequest request (false, std::numeric_limits<int>::max());
MeshCollisionTraversalNode<BV> node (request);
bool success = initialize <BV>(node, m1, pose1, m2, pose2, local_result);
diff --git a/test/test_fcl_profiling.cpp b/test/test_fcl_profiling.cpp
index b02f679f46719bff5a3b2b91a916636415b81248..1a2f1e1bcdd13af33ff7b2be93f82d38f3b459e3 100644
--- a/test/test_fcl_profiling.cpp
+++ b/test/test_fcl_profiling.cpp
@@ -228,14 +228,7 @@ int main(int argc, char** argv)
std::vector<Transform3f> transforms;
- CollisionRequest request;
- // request.num_max_contacts = 1;
- // request.enable_contact = false;
- // request.enable_distance_lower_bound = false;
- // request.num_max_cost_sources = 1;
- // request.enable_cost = false;
- // request.use_approximate_cost = true;
- // request.gjk_solver_type = GST_INDEP;
+ CollisionRequest request (false, 1, false);
if (argc > 1) {
int iarg = 1;
diff --git a/test/test_fcl_shape_mesh_consistency.cpp b/test/test_fcl_shape_mesh_consistency.cpp
index e527ff3c013bf13dcf1223fefd3a2a491bd7f02d..daa2bb5a884df5ee8c7d2db8567d150d41fc588e 100644
--- a/test/test_fcl_shape_mesh_consistency.cpp
+++ b/test/test_fcl_shape_mesh_consistency.cpp
@@ -808,7 +808,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_libccd)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f(), 16, 16);
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
CollisionResult result;
bool res;
@@ -1026,7 +1026,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_boxbox_libccd)
generateBVHModel(s1_obb, s1, Transform3f());
generateBVHModel(s2_obb, s2, Transform3f());
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
CollisionResult result;
bool res;
@@ -1146,7 +1146,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spherebox_libccd)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f());
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
CollisionResult result;
bool res;
@@ -1266,7 +1266,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_cylindercylinder_libccd)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f(), 16, 16);
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
CollisionResult result;
bool res;
@@ -1353,7 +1353,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_conecone_libccd)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f(), 16, 16);
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
CollisionResult result;
bool res;
@@ -1506,7 +1506,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_GJK)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f(), 16, 16);
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
request.gjk_solver_type = GST_INDEP;
CollisionResult result;
@@ -1726,7 +1726,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_boxbox_GJK)
generateBVHModel(s1_obb, s1, Transform3f());
generateBVHModel(s2_obb, s2, Transform3f());
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
request.gjk_solver_type = GST_INDEP;
CollisionResult result;
@@ -1848,7 +1848,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spherebox_GJK)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f());
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
request.gjk_solver_type = GST_INDEP;
CollisionResult result;
@@ -1970,7 +1970,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_cylindercylinder_GJK)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f(), 16, 16);
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
request.gjk_solver_type = GST_INDEP;
CollisionResult result;
@@ -2059,7 +2059,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_conecone_GJK)
generateBVHModel(s1_obb, s1, Transform3f(), 16, 16);
generateBVHModel(s2_obb, s2, Transform3f(), 16, 16);
- CollisionRequest request;
+ CollisionRequest request (false, 1, false);
request.gjk_solver_type = GST_INDEP;
CollisionResult result;
diff --git a/test/test_fcl_utility.h b/test/test_fcl_utility.h
index db297b8d1ca039f4e46841cf78310304835bdbb6..de55a35b6a522639f32cdbe73f955186eac7b30a 100644
--- a/test/test_fcl_utility.h
+++ b/test/test_fcl_utility.h
@@ -113,7 +113,7 @@ struct DistanceRes
/// @brief Collision data stores the collision request and the result given by collision algorithm.
struct CollisionData
{
- CollisionData()
+CollisionData() : request (false, 1, false)
{
done = false;
}