distance_request.h
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35 
38 #ifndef FCL_DISTANCEREQUEST_H
39 #define FCL_DISTANCEREQUEST_H
40 
41 #include "fcl/common/types.h"
43 
44 namespace fcl
45 {
46 
47 template <typename S>
49 
51 template <typename S>
52 struct FCL_EXPORT DistanceRequest
53 {
56 
93 
95  S rel_err; // relative error, between 0 and 1
96  S abs_err; // absoluate error
97 
100 
103 
104  explicit DistanceRequest(
105  bool enable_nearest_points_ = false,
106  bool enable_signed_distance = false,
107  S rel_err_ = 0.0,
108  S abs_err_ = 0.0,
109  S distance_tolerance = 1e-6,
110  GJKSolverType gjk_solver_type_ = GST_LIBCCD);
111 
112  bool isSatisfied(const DistanceResult<S>& result) const;
113 };
114 
117 
118 } // namespace fcl
119 
121 
122 #endif
fcl::DistanceRequest
request to the distance computation
Definition: distance_request.h:52
fcl::GJKSolverType
GJKSolverType
Type of narrow phase GJK solver.
Definition: gjk_solver_type.h:45
types.h
gjk_solver_type.h
distance_request-inl.h
fcl::DistanceResult
distance result
Definition: distance_request.h:48
fcl::DistanceRequest::gjk_solver_type
GJKSolverType gjk_solver_type
narrow phase solver type
Definition: distance_request.h:102
fcl::DistanceRequest::abs_err
S abs_err
Definition: distance_request.h:96
fcl::GST_LIBCCD
@ GST_LIBCCD
Definition: gjk_solver_type.h:45
fcl::DistanceRequest::rel_err
S rel_err
error threshold for approximate distance
Definition: distance_request.h:95
fcl::DistanceRequest::enable_nearest_points
bool enable_nearest_points
whether to return the nearest points
Definition: distance_request.h:55
fcl::DistanceRequest::enable_signed_distance
bool enable_signed_distance
Whether to compute exact negative distance.
Definition: distance_request.h:92
fcl::DistanceRequest::distance_tolerance
S distance_tolerance
the threshold used in GJK algorithm to stop distance iteration
Definition: distance_request.h:99
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:50