.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_distance.h:

Program Listing for File distance.h
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_distance.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/distance.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, Open Source Robotics Foundation
    *  All rights reserved.
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    *  Redistribution and use in source and binary forms, with or without
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    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
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    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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    */
   
   #ifndef HPP_FCL_DISTANCE_H
   #define HPP_FCL_DISTANCE_H
   
   #include <hpp/fcl/collision_object.h>
   #include <hpp/fcl/collision_data.h>
   #include <hpp/fcl/distance_func_matrix.h>
   #include <hpp/fcl/timings.h>
   
   namespace hpp {
   namespace fcl {
   
   HPP_FCL_DLLAPI FCL_REAL distance(const CollisionObject* o1,
                                    const CollisionObject* o2,
                                    const DistanceRequest& request,
                                    DistanceResult& result);
   
   HPP_FCL_DLLAPI FCL_REAL distance(const CollisionGeometry* o1,
                                    const Transform3f& tf1,
                                    const CollisionGeometry* o2,
                                    const Transform3f& tf2,
                                    const DistanceRequest& request,
                                    DistanceResult& result);
   
   inline FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
                            DistanceRequest& request, DistanceResult& result) {
     FCL_REAL res = distance(o1, o2, (const DistanceRequest&)request, result);
     request.updateGuess(result);
     return res;
   }
   
   inline FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
                            const CollisionGeometry* o2, const Transform3f& tf2,
                            DistanceRequest& request, DistanceResult& result) {
     FCL_REAL res =
         distance(o1, tf1, o2, tf2, (const DistanceRequest&)request, result);
     request.updateGuess(result);
     return res;
   }
   
   class HPP_FCL_DLLAPI ComputeDistance {
    public:
     ComputeDistance(const CollisionGeometry* o1, const CollisionGeometry* o2);
   
     FCL_REAL operator()(const Transform3f& tf1, const Transform3f& tf2,
                         const DistanceRequest& request,
                         DistanceResult& result) const;
   
     inline FCL_REAL operator()(const Transform3f& tf1, const Transform3f& tf2,
                                DistanceRequest& request,
                                DistanceResult& result) const {
       FCL_REAL res = operator()(tf1, tf2, (const DistanceRequest&)request,
                                 result);
       request.updateGuess(result);
       return res;
     }
   
     bool operator==(const ComputeDistance& other) const {
       return o1 == other.o1 && o2 == other.o2 && swap_geoms == other.swap_geoms &&
              solver == other.solver && func == other.func;
     }
   
     bool operator!=(const ComputeDistance& other) const {
       return !(*this == other);
     }
   
     virtual ~ComputeDistance(){};
   
    protected:
     // These pointers are made mutable to let the derived classes to update
     // their values when updating the collision geometry (e.g. creating a new
     // one). This feature should be used carefully to avoid any mis usage (e.g,
     // changing the type of the collision geometry should be avoided).
     mutable const CollisionGeometry* o1;
     mutable const CollisionGeometry* o2;
   
     mutable GJKSolver solver;
   
     DistanceFunctionMatrix::DistanceFunc func;
     bool swap_geoms;
   
     virtual FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2,
                          const DistanceRequest& request,
                          DistanceResult& result) const;
   
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
   
   }  // namespace fcl
   }  // namespace hpp
   
   #endif