fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver > Struct Template Reference

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
using	DistanceFunc = S(*)(const CollisionGeometry< S > *o1, const Transform3< S > &tf1, const CollisionGeometry< S > *o2, const Transform3< S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< S > &request, DistanceResult< S > &result)
	the uniform call interface for distance: for distance, we need know More...
using	S = typename NarrowPhaseSolver::S

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 More...

Detailed Description

template<typename NarrowPhaseSolver>
struct fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >

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

Definition at line 54 of file distance_func_matrix.h.

Member Typedef Documentation

DistanceFunc

template<typename NarrowPhaseSolver >

using fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >::DistanceFunc = S (*)( const CollisionGeometry<S>* o1, const Transform3<S>& tf1, const CollisionGeometry<S>* o2, const Transform3<S>& tf2, const NarrowPhaseSolver* nsolver, const DistanceRequest<S>& request, DistanceResult<S>& 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 72 of file distance_func_matrix.h.

S

template<typename NarrowPhaseSolver >

using fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >::S = typename NarrowPhaseSolver::S

Definition at line 56 of file distance_func_matrix.h.

Constructor & Destructor Documentation

DistanceFunctionMatrix()

template<typename NarrowPhaseSolver >

fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >::DistanceFunctionMatrix

Definition at line 477 of file distance_func_matrix-inl.h.

Member Data Documentation

distance_matrix

template<typename NarrowPhaseSolver >

DistanceFunc fcl::detail::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 76 of file distance_func_matrix.h.

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

• distance_func_matrix.h
• distance_func_matrix-inl.h