Struct DistanceCallBackBase

Inheritance Relationships

Derived Type

Struct Documentation

struct DistanceCallBackBase

Base callback class for distance queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision).

Subclassed by hpp::fcl::DistanceCallBackDefault

Public Functions

inline virtual void init()

Initialization of the callback before running the collision broadphase manager.

virtual bool distance(CollisionObject *o1, CollisionObject *o2, FCL_REAL &dist) = 0

Distance evaluation between two objects in collision. This callback will cause the broadphase evaluation to stop if it returns true.

Parameters:

  • o1 – [in] Collision object #1.

  • o2 – [in] Collision object #2.

  • dist – [out] Distance between the two collision geometries.

inline virtual bool operator()(CollisionObject *o1, CollisionObject *o2, FCL_REAL &dist)

Functor call associated to the distance operation.