include
fcl
narrowphase
distance_result.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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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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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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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*/
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#ifndef FCL_DISTANCERESULT_H
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#define FCL_DISTANCERESULT_H
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#include "
fcl/common/types.h
"
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namespace
fcl
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{
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template
<
typename
>
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class
CollisionGeometry;
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template
<
typename
S>
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struct
FCL_EXPORT DistanceResult
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{
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public
:
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S
min_distance
;
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Vector3<S>
nearest_points[2];
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const
CollisionGeometry<S>
*
o1
;
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const
CollisionGeometry<S>
*
o2
;
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intptr_t
b1
;
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intptr_t
b2
;
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static
const
int
NONE = -1;
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DistanceResult
(S min_distance_ =
std::numeric_limits<S>::max
());
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void
update(S
distance
,
const
CollisionGeometry<S>
* o1_,
const
CollisionGeometry<S>
* o2_,
int
b1_,
int
b2_);
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void
update(S
distance
,
const
CollisionGeometry<S>
* o1_,
const
CollisionGeometry<S>
* o2_,
int
b1_,
int
b2_,
const
Vector3<S>
& p1,
const
Vector3<S>
& p2);
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void
update(
const
DistanceResult
& other_result);
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void
clear();
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};
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using
DistanceResultf
=
DistanceResult<float>
;
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using
DistanceResultd
=
DistanceResult<double>
;
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}
// namespace fcl
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#include "
fcl/narrowphase/distance_result-inl.h
"
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#endif
distance_result-inl.h
fcl::DistanceResult::o1
const CollisionGeometry< S > * o1
collision object 1
Definition:
distance_result.h:72
types.h
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition:
kIOS-inl.h:266
fcl::DistanceResult::b1
intptr_t b1
information about the nearest point in object 1 if object 1 is mesh or point cloud,...
Definition:
distance_result.h:82
fcl::DistanceResult::b2
intptr_t b2
information about the nearest point in object 2 if object 2 is mesh or point cloud,...
Definition:
distance_result.h:89
max
static T max(T x, T y)
Definition:
svm.cpp:52
fcl::DistanceResult
distance result
Definition:
distance_request.h:48
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition:
types.h:70
fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition:
collision_geometry.h:58
fcl::DistanceResult::min_distance
S min_distance
Minimum distance between two objects.
Definition:
distance_result.h:64
fcl::intptr_t
std::intptr_t intptr_t
Definition:
types.h:63
fcl::DistanceResult::o2
const CollisionGeometry< S > * o2
collision object 2
Definition:
distance_result.h:75
fcl
Main namespace.
Definition:
broadphase_bruteforce-inl.h:45
fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:48