38#ifndef HPP_FCL_DISTANCE_H
39#define HPP_FCL_DISTANCE_H
116 return o1 == other.
o1 && o2 == other.
o2 && swap_geoms == other.
swap_geoms &&
121 return !(*
this == other);
136 DistanceFunctionMatrix::DistanceFunc
func;
144 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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
#define HPP_FCL_DLLAPI
Definition: config.hh:88
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