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/** @author Jia Pan */

#ifndef HPP_FCL_DISTANCE_H

#define HPP_FCL_DISTANCE_H

#include <hpp/fcl/collision_object.h>

#include <hpp/fcl/collision_data.h>

#include <hpp/fcl/distance_func_matrix.h>

#include <hpp/fcl/timings.h>

namespace hpp {

namespace fcl {

/// @brief 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.

HPP_FCL_DLLAPI FCL_REAL distance(const CollisionObject* o1,

                                 const CollisionObject* o2,

                                 const DistanceRequest& request,

                                 DistanceResult& result);

/// @copydoc distance(const CollisionObject*, const CollisionObject*, const

/// DistanceRequest&, DistanceResult&)

HPP_FCL_DLLAPI FCL_REAL distance(const CollisionGeometry* o1,

                                 const Transform3f& tf1,

                                 const CollisionGeometry* o2,

                                 const Transform3f& tf2,

                                 const DistanceRequest& request,

                                 DistanceResult& result);

/// @copydoc distance(const CollisionObject*, const CollisionObject*, const

/// DistanceRequest&, DistanceResult&) \note this function update the initial

/// guess of \c request if requested.

///       See QueryRequest::updateGuess

                         DistanceRequest& request, DistanceResult& result) {

}

/// @copydoc distance(const CollisionObject*, const CollisionObject*, const

/// DistanceRequest&, DistanceResult&) \note this function update the initial

/// guess of \c request if requested.

///       See QueryRequest::updateGuess

                         const CollisionGeometry* o2, const Transform3f& tf2,

                         DistanceRequest& request, DistanceResult& result) {

  FCL_REAL res =

}

/// This class reduces the cost of identifying the geometry pair.

/// This is mostly useful for repeated shape-shape queries.

///

/// \code

///   ComputeDistance calc_distance (o1, o2);

///   FCL_REAL distance = calc_distance(tf1, tf2, request, result);

/// \endcode

class HPP_FCL_DLLAPI ComputeDistance {

 public:

  ComputeDistance(const CollisionGeometry* o1, const CollisionGeometry* o2);

  FCL_REAL operator()(const Transform3f& tf1, const Transform3f& tf2,

                      const DistanceRequest& request,

                      DistanceResult& result) const;

                             DistanceRequest& request,

                             DistanceResult& result) const {

                              result);

  }

  bool operator==(const ComputeDistance& other) const {

    return o1 == other.o1 && o2 == other.o2 && swap_geoms == other.swap_geoms &&

           solver == other.solver && func == other.func;

  }

  bool operator!=(const ComputeDistance& other) const {

    return !(*this == other);

  }

 protected:

  // These pointers are made mutable to let the derived classes to update

  // their values when updating the collision geometry (e.g. creating a new

  // one). This feature should be used carefully to avoid any mis usage (e.g,

  // changing the type of the collision geometry should be avoided).

  mutable const CollisionGeometry* o1;

  mutable const CollisionGeometry* o2;

  mutable GJKSolver solver;

  DistanceFunctionMatrix::DistanceFunc func;

  bool swap_geoms;

  virtual FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2,

                       const DistanceRequest& request,

                       DistanceResult& result) const;

 public:

};

}  // namespace fcl

}  // namespace hpp

#endif