Class ComputeDistance

• Defined in File distance.h

Class Documentation

class ComputeDistance

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeDistance calc_distance (o1, o2);
CoalScalar distance = calc_distance(tf1, tf2, request, result);

Public Functions

ComputeDistance(const CollisionGeometry *o1, const CollisionGeometry *o2)

CoalScalar operator()(const Transform3s &tf1, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result) const

inline bool operator==(const ComputeDistance &other) const

inline bool operator!=(const ComputeDistance &other) const

inline virtual ~ComputeDistance()

Protected Functions

virtual CoalScalar run(const Transform3s &tf1, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result) const

Protected Attributes

mutable const CollisionGeometry *o1

mutable const CollisionGeometry *o2

mutable GJKSolver solver

DistanceFunctionMatrix::DistanceFunc func

bool swap_geoms