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fcl::DistanceFunctionMatrix< NarrowPhaseSolver > Struct Template Reference

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

#include <distance_func_matrix.h>

List of all members.


Public Types

typedef FCL_REAL(*) DistanceFunc (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *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 Member Functions

 DistanceFunctionMatrix ()

Public Attributes

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

Detailed Description

template<typename NarrowPhaseSolver>
struct fcl::DistanceFunctionMatrix< NarrowPhaseSolver >

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

Definition at line 48 of file distance_func_matrix.h.


The documentation for this struct was generated from the following files: