38#ifndef HPP_FCL_DISTANCE_H
39#define HPP_FCL_DISTANCE_H
100 solver.enable_cached_guess = cached;
110 res = run(tf1, tf2, request, result);
114 res = run(tf1, tf2, request, result);
137 DistanceFunctionMatrix::DistanceFunc
func;
144 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
The geometry for the object for collision or distance computation.
Definition: collision_object.h:67
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:200
Definition: distance.h:92
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) const
Definition: distance.h:96
ComputeDistance(const CollisionGeometry *o1, const CollisionGeometry *o2)
GJKSolver solver
Definition: distance.h:135
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, DistanceRequest &request, DistanceResult &result) const
Definition: distance.h:123
DistanceFunctionMatrix::DistanceFunc func
Definition: distance.h:137
CollisionGeometry const * o1
Definition: distance.h:134
bool swap_geoms
Definition: distance.h:138
virtual ~ComputeDistance()
Definition: distance.h:131
virtual FCL_REAL run(const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) const
#define HPP_FCL_DLLAPI
Definition: config.hh:64
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44
request to the distance computation
Definition: collision_data.h:369
distance result
Definition: collision_data.h:403
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54
Vec3f cached_gjk_guess
the gjk initial guess set by user
Definition: collision_data.h:145
support_func_guess_t cached_support_func_guess
the support function initial guess set by user
Definition: collision_data.h:148
void updateGuess(const QueryResult &result)
Definition: collision_data.h:190
bool enable_timings
enable timings when performing collision/distance request
Definition: collision_data.h:151
bool enable_cached_gjk_guess
whether enable gjk initial guess
Definition: collision_data.h:142
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:179
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:176
CPUTimes timings
timings for the given request
Definition: collision_data.h:182
This class mimics the way "boost/timer/timer.hpp" operates while using the modern std::chrono library...
Definition: timings.h:40
CPUTimes elapsed() const
Definition: timings.h:48