hpp-fcl 2.4.4
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 {
46namespace fcl {
47
58 typedef FCL_REAL (*DistanceFunc)(const CollisionGeometry* o1,
59 const Transform3f& tf1,
60 const CollisionGeometry* o2,
61 const Transform3f& tf2,
62 const GJKSolver* nsolver,
63 const DistanceRequest& request,
64 DistanceResult& result);
65
68 DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];
69
71};
72
73} // namespace fcl
74
75} // namespace hpp
76
77#endif
The geometry for the object for collision or distance computation.
Definition: collision_object.h:95
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
#define HPP_FCL_DLLAPI
Definition: config.hh:88
@ NODE_COUNT
Definition: collision_object.h:88
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44
distance matrix stores the functions for distance between different types of objects and provides a u...
Definition: distance_func_matrix.h:50
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