coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
Classes | Namespaces | Functions
distance.h File Reference
#include "coal/collision_object.h"
#include "coal/collision_data.h"
#include "coal/distance_func_matrix.h"
#include "coal/timings.h"
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Classes

class  coal::ComputeDistance
 

Namespaces

 coal
 Main namespace.
 

Functions

Scalar coal::distance (const CollisionObject *o1, const CollisionObject *o2, const DistanceRequest &request, DistanceResult &result)
 Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects. More...
 
Scalar coal::distance (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)