From c3aee6fb611942ac1f4edda14ce23201848fdd29 Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Mon, 15 Feb 2016 17:55:08 +0100
Subject: [PATCH] Provide operator == in CollisionResult, CostSource and
Contact
---
include/hpp/fcl/collision_data.h | 27 +++++++++++++++++++++++++++
1 file changed, 27 insertions(+)
diff --git a/include/hpp/fcl/collision_data.h b/include/hpp/fcl/collision_data.h
index eec9c36e..6f850d69 100644
--- a/include/hpp/fcl/collision_data.h
+++ b/include/hpp/fcl/collision_data.h
@@ -119,6 +119,17 @@ struct Contact
return b2 < other.b2;
return b1 < other.b1;
}
+
+ bool operator == (const Contact& other) const
+ {
+ return o1 == other.o1
+ && o2 == other.o2
+ && b1 == other.b1
+ && b2 == other.b2
+ && normal == other.normal
+ && pos == other.pos
+ && penetration_depth == other.penetration_depth;
+ }
};
/// @brief Cost source describes an area with a cost. The area is described by an AABB region.
@@ -169,6 +180,14 @@ struct CostSource
return false;
}
+
+ bool operator == (const CostSource& other) const
+ {
+ return aabb_min == other.aabb_min
+ && aabb_max == other.aabb_max
+ && cost_density == other.cost_density
+ && total_cost == other.total_cost;
+ }
};
struct CollisionResult;
@@ -262,6 +281,14 @@ public:
cost_sources.erase(--cost_sources.end());
}
+ /// @brief whether two CollisionResult are the same or not
+ inline bool operator ==(const CollisionResult& other) const
+ {
+ return contacts == other.contacts
+ && cost_sources == other.cost_sources
+ && distance_lower_bound == other.distance_lower_bound;
+ }
+
/// @brief return binary collision result
bool isCollision() const
{
--
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