distance.h
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35 
38 #ifndef HPP_FCL_DISTANCE_H
39 #define HPP_FCL_DISTANCE_H
40 
42 #include <hpp/fcl/collision_data.h>
44 #include <hpp/fcl/timings.h>
45 
46 namespace hpp {
47 namespace fcl {
48 
53 HPP_FCL_DLLAPI FCL_REAL distance(const CollisionObject* o1,
54  const CollisionObject* o2,
55  const DistanceRequest& request,
56  DistanceResult& result);
57 
60 HPP_FCL_DLLAPI FCL_REAL distance(const CollisionGeometry* o1,
61  const Transform3f& tf1,
62  const CollisionGeometry* o2,
63  const Transform3f& tf2,
64  const DistanceRequest& request,
65  DistanceResult& result);
66 
71 inline FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
72  DistanceRequest& request, DistanceResult& result) {
73  FCL_REAL res = distance(o1, o2, (const DistanceRequest&)request, result);
74  request.updateGuess(result);
75  return res;
76 }
77 
83  const CollisionGeometry* o2, const Transform3f& tf2,
84  DistanceRequest& request, DistanceResult& result) {
85  FCL_REAL res =
86  distance(o1, tf1, o2, tf2, (const DistanceRequest&)request, result);
87  request.updateGuess(result);
88  return res;
89 }
90 
98 class HPP_FCL_DLLAPI ComputeDistance {
99  public:
101 
102  FCL_REAL operator()(const Transform3f& tf1, const Transform3f& tf2,
103  const DistanceRequest& request,
104  DistanceResult& result) const;
105 
107  DistanceRequest& request,
108  DistanceResult& result) const {
109  FCL_REAL res = operator()(tf1, tf2, (const DistanceRequest&)request,
110  result);
111  request.updateGuess(result);
112  return res;
113  }
114 
115  bool operator==(const ComputeDistance& other) const {
116  return o1 == other.o1 && o2 == other.o2 && swap_geoms == other.swap_geoms &&
117  solver == other.solver && func == other.func;
118  }
119 
120  bool operator!=(const ComputeDistance& other) const {
121  return !(*this == other);
122  }
123 
124  virtual ~ComputeDistance(){};
125 
126  protected:
127  // These pointers are made mutable to let the derived classes to update
128  // their values when updating the collision geometry (e.g. creating a new
129  // one). This feature should be used carefully to avoid any mis usage (e.g,
130  // changing the type of the collision geometry should be avoided).
131  mutable const CollisionGeometry* o1;
132  mutable const CollisionGeometry* o2;
133 
134  mutable GJKSolver solver;
135 
138 
139  virtual FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2,
140  const DistanceRequest& request,
141  DistanceResult& result) const;
142 
143  public:
144  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
145 };
146 
147 } // namespace fcl
148 } // namespace hpp
149 
150 #endif
distance_func_matrix.h
collision_object.h
hpp::fcl::DistanceFunctionMatrix::DistanceFunc
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
Definition: distance_func_matrix.h:58
hpp::fcl::QueryRequest::updateGuess
HPP_FCL_COMPILER_DIAGNOSTIC_POP void updateGuess(const QueryResult &result)
Definition: collision_data.h:210
hpp::fcl::ComputeDistance::operator==
bool operator==(const ComputeDistance &other) const
Definition: distance.h:115
gjk.tf1
tuple tf1
Definition: test/scripts/gjk.py:27
hpp::fcl::distance
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS.cpp:181
hpp::fcl::ComputeDistance::o1
const CollisionGeometry * o1
Definition: distance.h:124
hpp::fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_object.h:95
hpp::fcl::ComputeDistance::solver
GJKSolver solver
Definition: distance.h:134
timings.h
res
res
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp::fcl::GJKSolver
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54
collision_data.h
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
hpp::fcl::ComputeDistance::swap_geoms
bool swap_geoms
Definition: distance.h:137
gjk.tf2
tuple tf2
Definition: test/scripts/gjk.py:36
omniidl_be_python_with_docstring.run
def run(tree, args)
Definition: omniidl_be_python_with_docstring.py:140
hpp::fcl::ComputeDistance::o2
const CollisionGeometry * o2
Definition: distance.h:132
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
hpp::fcl::ComputeDistance::~ComputeDistance
virtual ~ComputeDistance()
Definition: distance.h:124
hpp::fcl::DistanceRequest
request to the distance computation
Definition: collision_data.h:392
hpp::fcl::ComputeDistance::operator!=
bool operator!=(const ComputeDistance &other) const
Definition: distance.h:120
hpp::fcl::DistanceResult
distance result
Definition: collision_data.h:420
hpp::fcl::ComputeDistance::func
DistanceFunctionMatrix::DistanceFunc func
Definition: distance.h:136
hpp::fcl::ComputeDistance
Definition: distance.h:98
hpp::fcl::ComputeDistance::operator()
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, DistanceRequest &request, DistanceResult &result) const
Definition: distance.h:106


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:13