triangle_distance.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_TRIANGLEDISTANCE_H
39 #define FCL_NARROWPHASE_DETAIL_TRIANGLEDISTANCE_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
50 template <typename S>
51 class FCL_EXPORT TriangleDistance
52 {
53 public:
54 
60  static void segPoints(const Vector3<S>& P, const Vector3<S>& A, const Vector3<S>& Q, const Vector3<S>& B,
61  Vector3<S>& VEC, Vector3<S>& X, Vector3<S>& Y);
62 
68  static S triDistance(const Vector3<S> T1[3], const Vector3<S> T2[3], Vector3<S>& P, Vector3<S>& Q);
69 
70  static S triDistance(const Vector3<S>& S1, const Vector3<S>& S2, const Vector3<S>& S3,
71  const Vector3<S>& T1, const Vector3<S>& T2, const Vector3<S>& T3,
72  Vector3<S>& P, Vector3<S>& Q);
73 
80  static S triDistance(const Vector3<S> T1[3], const Vector3<S> T2[3],
81  const Matrix3<S>& R, const Vector3<S>& Tl,
82  Vector3<S>& P, Vector3<S>& Q);
83 
84  static S triDistance(const Vector3<S> T1[3], const Vector3<S> T2[3],
85  const Transform3<S>& tf,
86  Vector3<S>& P, Vector3<S>& Q);
87 
88  static S triDistance(const Vector3<S>& S1, const Vector3<S>& S2, const Vector3<S>& S3,
89  const Vector3<S>& T1, const Vector3<S>& T2, const Vector3<S>& T3,
90  const Matrix3<S>& R, const Vector3<S>& Tl,
91  Vector3<S>& P, Vector3<S>& Q);
92 
93  static S triDistance(
94  const Vector3<S>& S1,
95  const Vector3<S>& S2,
96  const Vector3<S>& S3,
97  const Vector3<S>& T1,
98  const Vector3<S>& T2,
99  const Vector3<S>& T3,
100  const Transform3<S>& tf,
101  Vector3<S>& P,
102  Vector3<S>& Q);
103 
104 };
105 
108 
109 } // namespace detail
110 } // namespace fcl
111 
113 
114 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
types.h
triangle_distance-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::detail::TriangleDistance
Triangle distance functions.
Definition: triangle_distance.h:51
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Fri Apr 2 2021 02:38:01