distance_result-inl.h
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35 
38 #ifndef FCL_DISTANCERESULT_INL_H
39 #define FCL_DISTANCERESULT_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 struct DistanceResult<double>;
49 
50 //==============================================================================
51 template <typename S>
52 FCL_EXPORT
54  : min_distance(min_distance_),
55  o1(nullptr),
56  o2(nullptr),
57  b1(NONE),
58  b2(NONE)
59 {
60  // Do nothing
61 }
62 
63 //==============================================================================
64 template <typename S>
65 FCL_EXPORT
67  S distance,
68  const CollisionGeometry<S>* o1_,
69  const CollisionGeometry<S>* o2_,
70  int b1_,
71  int b2_)
72 {
73  if(min_distance > distance)
74  {
75  min_distance = distance;
76  o1 = o1_;
77  o2 = o2_;
78  b1 = b1_;
79  b2 = b2_;
80  }
81 }
82 
83 //==============================================================================
84 template <typename S>
85 FCL_EXPORT
87  S distance,
88  const CollisionGeometry<S>* o1_,
89  const CollisionGeometry<S>* o2_,
90  int b1_,
91  int b2_,
92  const Vector3<S>& p1,
93  const Vector3<S>& p2)
94 {
95  if(min_distance > distance)
96  {
97  min_distance = distance;
98  o1 = o1_;
99  o2 = o2_;
100  b1 = b1_;
101  b2 = b2_;
102  nearest_points[0] = p1;
103  nearest_points[1] = p2;
104  }
105 }
106 
107 //==============================================================================
108 template <typename S>
109 FCL_EXPORT
110 void DistanceResult<S>::update(const DistanceResult& other_result)
111 {
112  if(min_distance > other_result.min_distance)
113  {
114  min_distance = other_result.min_distance;
115  o1 = other_result.o1;
116  o2 = other_result.o2;
117  b1 = other_result.b1;
118  b2 = other_result.b2;
119  nearest_points[0] = other_result.nearest_points[0];
120  nearest_points[1] = other_result.nearest_points[1];
121  }
122 }
123 
124 //==============================================================================
125 template <typename S>
126 FCL_EXPORT
128 {
129  min_distance = std::numeric_limits<S>::max();
130  o1 = nullptr;
131  o2 = nullptr;
132  b1 = NONE;
133  b2 = NONE;
134 }
135 
136 } // namespace fcl
137 
138 #endif
distance_result.h
fcl::DistanceResult::o1
const CollisionGeometry< S > * o1
collision object 1
Definition: distance_result.h:72
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::DistanceResult::b1
intptr_t b1
information about the nearest point in object 1 if object 1 is mesh or point cloud,...
Definition: distance_result.h:82
fcl::DistanceResult::DistanceResult
DistanceResult(S min_distance_=std::numeric_limits< S >::max())
Definition: distance_result-inl.h:53
fcl::DistanceResult::nearest_points
Vector3< S > nearest_points[2]
Nearest points in the world coordinates.
Definition: distance_result.h:69
fcl::DistanceResult::b2
intptr_t b2
information about the nearest point in object 2 if object 2 is mesh or point cloud,...
Definition: distance_result.h:89
max
static T max(T x, T y)
Definition: svm.cpp:52
fcl::DistanceResult
distance result
Definition: distance_request.h:48
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_geometry.h:58
fcl::DistanceResult::min_distance
S min_distance
Minimum distance between two objects.
Definition: distance_result.h:64
fcl::DistanceResult::o2
const CollisionGeometry< S > * o2
collision object 2
Definition: distance_result.h:75
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Wed Mar 2 2022 00:15:30