DistFuncs.h File Reference

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## Functions | |

std::ostream & | operator<< (std::ostream &ost, const Point &p) |

HRP_COLLISION_EXPORT float | PointSegDist (const Point &P, const Point &u0, const Point &u1) |

compute distance between a point and a line segment | |

HRP_COLLISION_EXPORT float | SegSegDist (const Point &u0, const Point &u1, const Point &v0, const Point &v1) |

compute distance between line segments | |

HRP_COLLISION_EXPORT float | TriTriDist (const Point &U0, const Point &U1, const Point &U2, const Point &V0, const Point &V1, const Point &V2, Point &cp0, Point &cp1) |

compute the minimum distance and the closest points between two triangles |

Definition at line 3 of file DistFuncs.cpp.

HRP_COLLISION_EXPORT float PointSegDist | ( | const Point & | P, |

const Point & | u0, |
||

const Point & | u1 |
||

) |

compute distance between a point and a line segment

**Parameters:**-
P the point u0 one of end points of the line segment u1 the other end point of the line segment

**Returns:**- distance between the point and the line segment

Definition at line 115 of file DistFuncs.cpp.

HRP_COLLISION_EXPORT float SegSegDist | ( | const Point & | u0, |

const Point & | u1, |
||

const Point & | v0, |
||

const Point & | v1 |
||

) |

compute distance between line segments

u0 one of end points of the first line segment u1 the other end point of the first line segment v0 one of end points of the second line segment v1 the other end point of the second line segment

**Returns:**- distance between line segments

Definition at line 271 of file DistFuncs.cpp.

HRP_COLLISION_EXPORT float TriTriDist | ( | const Point & | U0, |

const Point & | U1, |
||

const Point & | U2, |
||

const Point & | V0, |
||

const Point & | V1, |
||

const Point & | V2, |
||

Point & | cp0, |
||

Point & | cp1 |
||

) |

compute the minimum distance and the closest points between two triangles

**Parameters:**-
U0 the first vertex of the first triangle U1 the second vertex of the first triangle U2 the third vertex of the first triangle V0 the first vertex of the second triangle V1 the second vertex of the second triangle V2 the third vertex of the second triangle cp0 the closest point on the first triangle cp1 the closest point on the second triangle

**Returns:**- the minimum distance

Definition at line 154 of file DistFuncs.cpp.

openhrp3

Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo

autogenerated on Thu Apr 11 2019 03:30:19

Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo

autogenerated on Thu Apr 11 2019 03:30:19