hpp::fcl::DistanceFunctionMatrix Struct Reference

distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...

#include <hpp/fcl/distance_func_matrix.h>

Collaboration diagram for hpp::fcl::DistanceFunctionMatrix:

Public Types
typedef FCL_REAL(*	DistanceFunc) (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &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 FCL_REAL(* hpp::fcl::DistanceFunctionMatrix::DistanceFunc) (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)

the uniform call interface for distance: for distance, we need know

1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;
2. the solver for narrow phase collision, this is for distance computation between geometric shapes;
3. the request setting for distance (e.g., whether need to return nearest points);

Constructor & Destructor Documentation

DistanceFunctionMatrix()

hpp::fcl::DistanceFunctionMatrix::DistanceFunctionMatrix

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Member Data Documentation

distance_matrix

DistanceFunc hpp::fcl::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

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

• include/hpp/fcl/distance_func_matrix.h