coal::ComputeDistance Class Reference

#include <coal/distance.h>

Collaboration diagram for coal::ComputeDistance:

Public Member Functions
	ComputeDistance (const CollisionGeometry *o1, const CollisionGeometry *o2)
Scalar	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 Scalar	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);
Scalar distance = calc_distance(tf1, tf2, request, result);

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()()

Scalar 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 Scalar 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

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The documentation for this class was generated from the following file:

• include/coal/distance.h