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72 FCL_REAL res = (std::numeric_limits<FCL_REAL>::max)();
81 <<
" is not yet supported.",
82 std::invalid_argument);
85 o2,
tf2, o1,
tf1, &solver, request, result);
87 if (request.enable_nearest_points) {
89 result.
o1 = result.
o2;
102 <<
" is not yet supported.",
103 std::invalid_argument);
106 o1,
tf1, o2,
tf2, &solver, request, result);
137 <<
" is not yet supported.",
138 std::invalid_argument);
154 std::swap(result.
o1, result.
o2);
DistanceFunctionMatrix & getDistanceFunctionLookTable()
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Vec3f nearest_points[2]
nearest points
GJKInitialGuess gjk_initial_guess
which warm start to use for GJK
const CollisionGeometry * collisionGeometryPtr() const
get raw pointer to collision geometry of the object instance
ComputeDistance(const CollisionGeometry *o1, const CollisionGeometry *o2)
const CollisionGeometry * o1
collision object 1
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.
virtual OBJECT_TYPE getObjectType() const
get the type of the object
const CollisionGeometry * o1
This class mimics the way "boost/timer/timer.hpp" operates while using the modern std::chrono library...
The geometry for the object for collision or distance computation.
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
bool enable_timings
enable timings when performing collision/distance request
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
void set(const DistanceRequest &request)
setter from a DistanceRequest
bool enable_cached_guess
Whether smart guess can be provided @Deprecated Use gjk_initial_guess instead.
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
CPUTimes timings
timings for the given request
const Transform3f & getTransform() const
get object's transform
const char * get_node_type_name(NODE_TYPE node_type)
Returns the name associated to a NODE_TYPE.
the object for collision or distance computation, contains the geometry and the transform information
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
FCL_REAL operator()(const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) const
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
#define HPP_FCL_THROW_PRETTY(message, exception)
const CollisionGeometry * o2
request to the distance computation
virtual FCL_REAL run(const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) const
DistanceFunctionMatrix::DistanceFunc func
distance matrix stores the functions for distance between different types of objects and provides a u...
virtual NODE_TYPE getNodeType() const
get the node type
const CollisionGeometry * o2
collision object 2
bool enable_nearest_points
whether to return the nearest points
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
support_func_guess_t support_func_cached_guess
smart guess for the support function
Vec3f cached_guess
smart guess
hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:13