coal::DistanceFunctionMatrix Struct Reference
distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
#include <coal/distance_func_matrix.h>
Collaboration diagram for coal::DistanceFunctionMatrix:
Public Types | |
| typedef Scalar(* | DistanceFunc) (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
| the uniform call interface for distance: for distance, we need know More... | |
Public Member Functions | |
| DistanceFunctionMatrix () | |
Public Attributes | |
| DistanceFunc | distance_matrix [NODE_COUNT][NODE_COUNT] |
| each item in the distance matrix is a function to handle distance between objects of type1 and type2 More... | |
Detailed Description
distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
Member Typedef Documentation
◆ DistanceFunc
| typedef Scalar(* coal::DistanceFunctionMatrix::DistanceFunc) (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
the uniform call interface for distance: for distance, we need know
- two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;
- the solver for narrow phase collision, this is for distance computation between geometric shapes;
- the request setting for distance (e.g., whether need to return nearest points);
Constructor & Destructor Documentation
◆ DistanceFunctionMatrix()
| coal::DistanceFunctionMatrix::DistanceFunctionMatrix | ( | ) |
Member Data Documentation
◆ distance_matrix
| DistanceFunc coal::DistanceFunctionMatrix::distance_matrix[NODE_COUNT][NODE_COUNT] |
each item in the distance matrix is a function to handle distance between objects of type1 and type2
The documentation for this struct was generated from the following file:
- include/coal/distance_func_matrix.h
