fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver > Struct Template Reference

distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...

`#include <distance_func_matrix.h>`

## Public Types | |

using | DistanceFunc = S(*)(const CollisionGeometry< S > *o1, const Transform3< S > &tf1, const CollisionGeometry< S > *o2, const Transform3< S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< S > &request, DistanceResult< S > &result) |

the uniform call interface for distance: for distance, we need know More... | |

using | S = typename NarrowPhaseSolver::S |

## Public Member Functions | |

DistanceFunctionMatrix () | |

## Public Attributes | |

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 More... | |

struct fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >

distance matrix stores the functions for distance between different types of objects and provides a uniform call interface

Definition at line 54 of file distance_func_matrix.h.

template<typename NarrowPhaseSolver >

using fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >::DistanceFunc = S (*)( const CollisionGeometry<S>* o1, const Transform3<S>& tf1, const CollisionGeometry<S>* o2, const Transform3<S>& tf2, const NarrowPhaseSolver* nsolver, const DistanceRequest<S>& request, DistanceResult<S>& result) |

the uniform call interface for distance: for distance, we need know

- two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;
- the solver for narrow phase collision, this is for distance computation between geometric shapes;
- the request setting for distance (e.g., whether need to return nearest points);

Definition at line 72 of file distance_func_matrix.h.

template<typename NarrowPhaseSolver >

using fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >::S = typename NarrowPhaseSolver::S |

Definition at line 56 of file distance_func_matrix.h.

template<typename NarrowPhaseSolver >

fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >::DistanceFunctionMatrix |

Definition at line 477 of file distance_func_matrix-inl.h.

template<typename NarrowPhaseSolver >

DistanceFunc fcl::detail::DistanceFunctionMatrix< NarrowPhaseSolver >::distance_matrix[NODE_COUNT][NODE_COUNT] |

each item in the distance matrix is a function to handle distance between objects of type1 and type2

Definition at line 76 of file distance_func_matrix.h.

The documentation for this struct was generated from the following files: