coal::ComputeDistance Class Reference

#include <distance.h>

Public Member Functions
	ComputeDistance (const CollisionGeometry *o1, const CollisionGeometry *o2)
bool	operator!= (const ComputeDistance &other) const
CoalScalar	operator() (const Transform3s &tf1, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result) const
bool	operator== (const ComputeDistance &other) const
virtual	~ComputeDistance ()

Protected Member Functions
virtual CoalScalar	run (const Transform3s &tf1, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result) const

Protected Attributes
DistanceFunctionMatrix::DistanceFunc	func
const CollisionGeometry *	o1
const CollisionGeometry *	o2
GJKSolver	solver
bool	swap_geoms

Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeDistance calc_distance (o1, o2);
CoalScalar distance = calc_distance(tf1, tf2, request, result);

Definition at line 73 of file coal/distance.h.

Constructor & Destructor Documentation

ComputeDistance()

coal::ComputeDistance::ComputeDistance	(	const CollisionGeometry *	o1,
		const CollisionGeometry *	o2
	)

Definition at line 110 of file src/distance.cpp.

~ComputeDistance()

virtual coal::ComputeDistance::~ComputeDistance ( )

inlinevirtual

Definition at line 90 of file coal/distance.h.

Member Function Documentation

operator!=()

bool coal::ComputeDistance::operator!= ( const ComputeDistance &  other ) const

inline

Definition at line 86 of file coal/distance.h.

operator()()

CoalScalar coal::ComputeDistance::operator()	(	const Transform3s &	tf1,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)		const

Definition at line 159 of file src/distance.cpp.

operator==()

bool coal::ComputeDistance::operator== ( const ComputeDistance &  other ) const

inline

Definition at line 81 of file coal/distance.h.

run()

CoalScalar coal::ComputeDistance::run ( const Transform3s &  tf1, const Transform3s &  tf2, const DistanceRequest &  request, DistanceResult &  result  ) const

protectedvirtual

Definition at line 138 of file src/distance.cpp.

Member Data Documentation

func

DistanceFunctionMatrix::DistanceFunc coal::ComputeDistance::func

protected

Definition at line 102 of file coal/distance.h.

o1

const CollisionGeometry* coal::ComputeDistance::o1

mutableprotected

Definition at line 90 of file coal/distance.h.

o2

const CollisionGeometry* coal::ComputeDistance::o2

mutableprotected

Definition at line 98 of file coal/distance.h.

solver

GJKSolver coal::ComputeDistance::solver

mutableprotected

Definition at line 100 of file coal/distance.h.

swap_geoms

bool coal::ComputeDistance::swap_geoms

protected

Definition at line 103 of file coal/distance.h.

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The documentation for this class was generated from the following files:

• coal/distance.h
• src/distance.cpp