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

Public Types
typedef CoalScalar(*	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 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

typedef CoalScalar(* 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);

coal::DistanceFunctionMatrix::DistanceFunctionMatrix ( )

Definition at line 283 of file distance_func_matrix.cpp.

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 files: