hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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distance_func_matrix.h
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35
38#ifndef HPP_FCL_DISTANCE_FUNC_MATRIX_H
39#define HPP_FCL_DISTANCE_FUNC_MATRIX_H
40
44
45namespace hpp
46{
47namespace fcl
48{
49
52{
57 typedef FCL_REAL (*DistanceFunc)(const CollisionGeometry* o1, const Transform3f& tf1,
58 const CollisionGeometry* o2, const Transform3f& tf2,
59 const GJKSolver* nsolver,
60 const DistanceRequest& request, DistanceResult& result);
61
63 DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];
64
66};
67
68}
69
70} // namespace hpp
71
72#endif
The geometry for the object for collision or distance computation.
Definition: collision_object.h:67
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
#define HPP_FCL_DLLAPI
Definition: config.hh:64
@ NODE_COUNT
Definition: collision_object.h:59
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44
distance matrix stores the functions for distance between different types of objects and provides a u...
Definition: distance_func_matrix.h:52
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