coal 3.0.2
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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coal::ComputeDistance Class Reference

#include <coal/distance.h>

Public Member Functions

 ComputeDistance (const CollisionGeometry *o1, const CollisionGeometry *o2)
CoalScalar operator() (const Transform3s &tf1, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result) const
bool operator== (const ComputeDistance &other) const
bool operator!= (const ComputeDistance &other) const
virtual ~ComputeDistance ()

Protected Member Functions

virtual CoalScalar run (const Transform3s &tf1, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result) const

Protected Attributes

const CollisionGeometry * o1
const CollisionGeometry * o2
GJKSolver solver
DistanceFunctionMatrix::DistanceFunc func
bool swap_geoms

Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeDistance calc_distance (o1, o2);
CoalScalar distance = calc_distance(tf1, tf2, request, result);
coal::ComputeDistance::o2
const CollisionGeometry * o2
Definition distance.h:98
coal::ComputeDistance::ComputeDistance
ComputeDistance(const CollisionGeometry *o1, const CollisionGeometry *o2)
coal::ComputeDistance::o1
const CollisionGeometry * o1
Definition distance.h:97
coal::distance
CoalScalar distance(const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, Vec3s *P=NULL, Vec3s *Q=NULL)
Approximate distance between two kIOS bounding volumes.
coal::CoalScalar
double CoalScalar
Definition data_types.h:76

Constructor & Destructor Documentation

◆ ComputeDistance()

coal::ComputeDistance::ComputeDistance(const CollisionGeometry *o1,
const CollisionGeometry *o2 )

◆ ~ComputeDistance()

virtual coal::ComputeDistance::~ComputeDistance()
inlinevirtual

Member Function Documentation

◆ operator!=()

bool coal::ComputeDistance::operator!=(const ComputeDistance &other)const
inline

◆ operator()()

CoalScalar coal::ComputeDistance::operator()(const Transform3s &tf1,
const Transform3s &tf2,
const DistanceRequest &request,
DistanceResult &result ) const

◆ operator==()

bool coal::ComputeDistance::operator==(const ComputeDistance &other)const
inline

◆ run()

virtual CoalScalar coal::ComputeDistance::run(const Transform3s &tf1,
const Transform3s &tf2,
const DistanceRequest &request,
DistanceResult &result ) const
protectedvirtual

Member Data Documentation

◆ func

DistanceFunctionMatrix::DistanceFunc coal::ComputeDistance::func
protected

◆ o1

const CollisionGeometry* coal::ComputeDistance::o1
mutableprotected

◆ o2

const CollisionGeometry* coal::ComputeDistance::o2
mutableprotected

◆ solver

GJKSolver coal::ComputeDistance::solver
mutableprotected

◆ swap_geoms

bool coal::ComputeDistance::swap_geoms
protected
The documentation for this class was generated from the following file: