38 #ifndef HPP_FCL_DISTANCE_H 39 #define HPP_FCL_DISTANCE_H 53 const DistanceRequest& request, DistanceResult& result);
57 const CollisionGeometry* o2,
const Transform3f& tf2,
58 const DistanceRequest& request, DistanceResult& result);
99 solver.enable_cached_guess = cached;
107 res = func(o2, tf2, o1, tf1, &solver, request, result);
109 std::swap(result.
o1, result.
o2);
113 res = func (o1, tf1, o2, tf2, &solver, request, result);
support_func_guess_t cached_support_func_guess
the support function intial guess set by user
Definition: collision_data.h:149
FCL_REAL(* DistanceFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
the uniform call interface for distance: for distance, we need know
Definition: distance_func_matrix.h:57
request to the distance computation
Definition: collision_data.h:333
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:175
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:382
Main namespace.
Definition: AABB.h:43
Vec3f nearest_points[2]
nearest points
Definition: collision_data.h:376
bool enable_cached_gjk_guess
whether enable gjk intial guess
Definition: collision_data.h:143
Definition: distance.h:91
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
void updateGuess(const QueryResult &result)
Definition: collision_data.h:178
Vec3f cached_gjk_guess
the gjk intial guess set by user
Definition: collision_data.h:146
bool enable_nearest_points
whether to return the nearest points
Definition: collision_data.h:336
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, DistanceRequest &request, DistanceResult &result)
Definition: distance.h:123
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:172
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:50
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:157
The geometry for the object for collision or distance computation.
Definition: collision_object.h:63
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:385
#define HPP_FCL_DLLAPI
Definition: config.hh:64
distance result
Definition: collision_data.h:367
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
Definition: distance.h:95