hpp::fcl::DistanceRequest Struct Reference

request to the distance computation More...

#include <hpp/fcl/collision_data.h>

Public Member Functions
	DistanceRequest (bool enable_nearest_points_=false, FCL_REAL rel_err_=0.0, FCL_REAL abs_err_=0.0, GJKSolverType gjk_solver_type_=GST_INDEP)
bool	isSatisfied (const DistanceResult &result) const

Public Attributes
bool	enable_nearest_points
	whether to return the nearest points More...
FCL_REAL	rel_err
	error threshold for approximate distance More...
FCL_REAL	abs_err
GJKSolverType	gjk_solver_type
	narrow phase solver type More...

Detailed Description

request to the distance computation

Constructor & Destructor Documentation

hpp::fcl::DistanceRequest::DistanceRequest ( bool  enable_nearest_points_ = false, FCL_REAL  rel_err_ = 0.0, FCL_REAL  abs_err_ = 0.0, GJKSolverType  gjk_solver_type_ = GST_INDEP  )

inline

Member Function Documentation

bool hpp::fcl::DistanceRequest::isSatisfied

(

const DistanceResult &

result

)

const

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

Member Data Documentation

FCL_REAL hpp::fcl::DistanceRequest::abs_err

bool hpp::fcl::DistanceRequest::enable_nearest_points

whether to return the nearest points

GJKSolverType hpp::fcl::DistanceRequest::gjk_solver_type

narrow phase solver type

FCL_REAL hpp::fcl::DistanceRequest::rel_err

error threshold for approximate distance