Does a consensual encounter between a police officer and an individual breach the Fourth Amendment?

[5][6] "Unlike a detention, a consensual encounter between a police officer and an individual does not implicate the Fourth Amendment. It is well established that law enforcement officers may approach someone on the street or in another public place and converse if the person is willing to do so. There is no Fourth Amendment violation as long as circumstances are such that a reasonable person would feel free to leave or end the encounter." ( People v. Rivera (2007) 41 Cal.4th 304, 309, 59 Cal.Rptr.3d 473, 159 P.3d 60.)