[C++] GeometryData contains a fcl::CollisionRequest

src/multibody/geometry.hpp

@@ -231,6 +231,11 @@ namespace se3
     ///
     std::vector <DistanceResult> distance_results;
     
+    ///
+    /// \brief Defines what information should be computed by collision test.
+    ///
+    fcl::CollisionRequest collisionRequest;
+
     ///
     /// \brief Vector gathering the result of the collision computation for all the collision pairs.
     ///
@@ -255,6 +260,7 @@ namespace se3
         , oMg(model_geom.ngeoms)
         , activeCollisionPairs(modelGeom.collisionPairs.size(), true)
         , distance_results(modelGeom.collisionPairs.size())
+        , collisionRequest (1, false, false, 1, false, true, fcl::GST_INDEP)
         , collision_results(modelGeom.collisionPairs.size())
         , radius()
          

src/multibody/geometry.hxx

@@ -213,8 +213,6 @@ namespace se3
     const Index & co1 = pair.first;     assert(co1<collisionObjects.size());
     const Index & co2 = pair.second;    assert(co2<collisionObjects.size());
 
-    static const fcl::CollisionRequest collisionRequest (1, false, false, 1, false, true, fcl::GST_INDEP);
-
     fcl::collide (&collisionObjects[co1],&collisionObjects[co2],
                   collisionRequest, collisionResult);