coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
coal::ComputeDistance Class Reference

#include <coal/distance.h>

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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);
coal::ComputeDistance::o2
const CollisionGeometry * o2
Definition: distance.h:96
coal::ComputeDistance::ComputeDistance
ComputeDistance(const CollisionGeometry *o1, const CollisionGeometry *o2)
coal::ComputeDistance::o1
const CollisionGeometry * o1
Definition: distance.h:88
coal::distance
Scalar 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::Scalar
double Scalar
Definition: data_types.h:68

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