distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
#include <distance_func_matrix.h>
Public Types | |
| typedef FCL_REAL(* | DistanceFunc )(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *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); | |
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 | |
distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
Definition at line 48 of file distance_func_matrix.h.
| typedef FCL_REAL(* fcl::DistanceFunctionMatrix< NarrowPhaseSolver >::DistanceFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *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);
Definition at line 54 of file distance_func_matrix.h.
| fcl::DistanceFunctionMatrix< NarrowPhaseSolver >::DistanceFunctionMatrix | ( | ) |
Definition at line 287 of file distance_func_matrix.cpp.
| DistanceFunc fcl::DistanceFunctionMatrix< NarrowPhaseSolver >::distance_matrix[NODE_COUNT][NODE_COUNT] |
each item in the distance matrix is a function to handle distance between objects of type1 and type2
Definition at line 58 of file distance_func_matrix.h.
