Struct DistanceFunctionMatrix

• Defined in File distance_func_matrix.h

Struct Documentation

struct DistanceFunctionMatrix

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

Public Types

typedef CoalScalar (*DistanceFunc)(const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)

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

1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;

2. the solver for narrow phase collision, this is for distance computation between geometric shapes;

3. the request setting for distance (e.g., whether need to return nearest points);

Public Functions

DistanceFunctionMatrix()

Public Members

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