hpp-fcl 2.3.0
HPP fork of FCL -- The Flexible Collision Library
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distance.h
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35
38#ifndef HPP_FCL_DISTANCE_H
39#define HPP_FCL_DISTANCE_H
40
44#include <hpp/fcl/timings.h>
45
46namespace hpp {
47namespace fcl {
48
54 const CollisionObject* o2,
55 const DistanceRequest& request,
56 DistanceResult& result);
57
61 const Transform3f& tf1,
62 const CollisionGeometry* o2,
63 const Transform3f& tf2,
64 const DistanceRequest& request,
65 DistanceResult& result);
66
72 DistanceRequest& request, DistanceResult& result) {
73 FCL_REAL res = distance(o1, o2, (const DistanceRequest&)request, result);
74 request.updateGuess(result);
75 return res;
76}
77
82inline FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
83 const CollisionGeometry* o2, const Transform3f& tf2,
84 DistanceRequest& request, DistanceResult& result) {
85 FCL_REAL res =
86 distance(o1, tf1, o2, tf2, (const DistanceRequest&)request, result);
87 request.updateGuess(result);
88 return res;
89}
90
99 public:
101
103 const DistanceRequest& request,
104 DistanceResult& result) const;
105
106 inline FCL_REAL operator()(const Transform3f& tf1, const Transform3f& tf2,
107 DistanceRequest& request,
108 DistanceResult& result) const {
109 FCL_REAL res = operator()(tf1, tf2, (const DistanceRequest&)request,
110 result);
111 request.updateGuess(result);
112 return res;
113 }
114
115 bool operator==(const ComputeDistance& other) const {
116 return o1 == other.o1 && o2 == other.o2 && swap_geoms == other.swap_geoms &&
117 solver == other.solver && func == other.func;
118 }
119
120 bool operator!=(const ComputeDistance& other) const {
121 return !(*this == other);
122 }
123
124 virtual ~ComputeDistance(){};
125
126 protected:
127 // These pointers are made mutable to let the derived classes to update
128 // their values when updating the collision geometry (e.g. creating a new
129 // one). This feature should be used carefully to avoid any mis usage (e.g,
130 // changing the type of the collision geometry should be avoided).
131 mutable const CollisionGeometry* o1;
132 mutable const CollisionGeometry* o2;
133
135
136 DistanceFunctionMatrix::DistanceFunc func;
138
139 virtual FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2,
140 const DistanceRequest& request,
141 DistanceResult& result) const;
142
143 public:
144 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
145};
146
147} // namespace fcl
148} // namespace hpp
149
150#endif
The geometry for the object for collision or distance computation.
Definition: collision_object.h:95
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
Definition: distance.h:98
bool operator==(const ComputeDistance &other) const
Definition: distance.h:115
const CollisionGeometry * o1
Definition: distance.h:131
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) const
ComputeDistance(const CollisionGeometry *o1, const CollisionGeometry *o2)
GJKSolver solver
Definition: distance.h:134
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, DistanceRequest &request, DistanceResult &result) const
Definition: distance.h:106
DistanceFunctionMatrix::DistanceFunc func
Definition: distance.h:136
bool swap_geoms
Definition: distance.h:137
virtual ~ComputeDistance()
Definition: distance.h:124
virtual FCL_REAL run(const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) const
const CollisionGeometry * o2
Definition: distance.h:132
bool operator!=(const ComputeDistance &other) const
Definition: distance.h:120
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
#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:65
Main namespace.
Definition: broadphase_bruteforce.h:44
request to the distance computation
Definition: collision_data.h:392
distance result
Definition: collision_data.h:420
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54
void updateGuess(const QueryResult &result)
Definition: collision_data.h:210