include
fcl
narrowphase
distance_request.h
Go to the documentation of this file.
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* from this software without specific prior written permission.
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#ifndef FCL_DISTANCEREQUEST_H
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#define FCL_DISTANCEREQUEST_H
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#include "
fcl/common/types.h
"
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#include "
fcl/narrowphase/gjk_solver_type.h
"
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namespace
fcl
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{
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template
<
typename
S>
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struct
DistanceResult
;
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template
<
typename
S>
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struct
FCL_EXPORT
DistanceRequest
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{
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bool
enable_nearest_points
;
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bool
enable_signed_distance
;
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S
rel_err
;
// relative error, between 0 and 1
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S
abs_err
;
// absoluate error
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S
distance_tolerance
;
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GJKSolverType
gjk_solver_type
;
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explicit
DistanceRequest
(
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bool
enable_nearest_points_ =
false
,
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bool
enable_signed_distance =
false
,
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S rel_err_ = 0.0,
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S abs_err_ = 0.0,
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S distance_tolerance = 1e-6,
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GJKSolverType
gjk_solver_type_ =
GST_LIBCCD
);
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bool
isSatisfied(
const
DistanceResult<S>
& result)
const
;
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};
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using
DistanceRequestf
=
DistanceRequest<float>
;
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using
DistanceRequestd
=
DistanceRequest<double>
;
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}
// namespace fcl
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#include "
fcl/narrowphase/distance_request-inl.h
"
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#endif
fcl::DistanceRequest
request to the distance computation
Definition:
distance_request.h:52
fcl::GJKSolverType
GJKSolverType
Type of narrow phase GJK solver.
Definition:
gjk_solver_type.h:45
types.h
gjk_solver_type.h
distance_request-inl.h
fcl::DistanceResult
distance result
Definition:
distance_request.h:48
fcl::DistanceRequest::gjk_solver_type
GJKSolverType gjk_solver_type
narrow phase solver type
Definition:
distance_request.h:102
fcl::DistanceRequest::abs_err
S abs_err
Definition:
distance_request.h:96
fcl::GST_LIBCCD
@ GST_LIBCCD
Definition:
gjk_solver_type.h:45
fcl::DistanceRequest::rel_err
S rel_err
error threshold for approximate distance
Definition:
distance_request.h:95
fcl::DistanceRequest::enable_nearest_points
bool enable_nearest_points
whether to return the nearest points
Definition:
distance_request.h:55
fcl::DistanceRequest::enable_signed_distance
bool enable_signed_distance
Whether to compute exact negative distance.
Definition:
distance_request.h:92
fcl::DistanceRequest::distance_tolerance
S distance_tolerance
the threshold used in GJK algorithm to stop distance iteration
Definition:
distance_request.h:99
fcl
Main namespace.
Definition:
broadphase_bruteforce-inl.h:45
fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:48