request to the distance computation More...
#include <distance_request.h>
Public Member Functions  
DistanceRequest (bool enable_nearest_points_=false, bool enable_signed_distance=false, S rel_err_=0.0, S abs_err_=0.0, S distance_tolerance=1e6, GJKSolverType gjk_solver_type_=GST_LIBCCD)  
bool  isSatisfied (const DistanceResult< S > &result) const 
Public Attributes  
S  abs_err 
S  distance_tolerance 
the threshold used in GJK algorithm to stop distance iteration More...  
bool  enable_nearest_points 
whether to return the nearest points More...  
bool  enable_signed_distance 
Whether to compute exact negative distance. More...  
GJKSolverType  gjk_solver_type 
narrow phase solver type More...  
S  rel_err 
error threshold for approximate distance More...  
request to the distance computation
Definition at line 52 of file distance_request.h.

explicit 
Definition at line 54 of file distance_requestinl.h.
bool fcl::DistanceRequest< S >::isSatisfied  (  const DistanceResult< S > &  result  )  const 
Definition at line 73 of file distance_requestinl.h.
S fcl::DistanceRequest< S >::abs_err 
Definition at line 96 of file distance_request.h.
S fcl::DistanceRequest< S >::distance_tolerance 
the threshold used in GJK algorithm to stop distance iteration
Definition at line 99 of file distance_request.h.
bool fcl::DistanceRequest< S >::enable_nearest_points 
whether to return the nearest points
Definition at line 55 of file distance_request.h.
bool fcl::DistanceRequest< S >::enable_signed_distance 
Whether to compute exact negative distance.
Basically, the distance computation routine computes only the exact positive distance when the two objects are not in collision. If the objects are in collision, the result distance is implementation defined (mostly 1).
[ Current Implementation Status ]
—+—+— GJKSolverType  GST_LIBCCD  GST_INDEP —+—+— primitive shapes  SD_1, NP  SD_2, NP_X mesh and octree  SD_2, NP_X  SD_2, NP_X —+—+— SD_1: Signed distance is computed using convexity based methods (GJK, MPA) SD_2: Positive distance is computed using convexity based mothods (GJK, MPA), but negative distance is computed by a workaround using penetration computation. NP : The pair of nearest points are guaranteed to be on the surface of objects. NP_X: The pair of nearest points are NOT guaranteed to be on the surface of objects.
If this flag is set to true, FCL will perform additional collision checking when the two objects are in collision in order to get the exact negative distance, which is the negated penetration depth. If there are multiple contact for the two objects, then the maximum penetration depth is used.
If this flag is set to false, the result minimum distance is implementation defined (mostly 1).
The default is false.
Definition at line 92 of file distance_request.h.
GJKSolverType fcl::DistanceRequest< S >::gjk_solver_type 
narrow phase solver type
Definition at line 102 of file distance_request.h.
S fcl::DistanceRequest< S >::rel_err 
error threshold for approximate distance
Definition at line 95 of file distance_request.h.