hpp-fcl: hpp::fcl::ComputeDistance Class Reference

hpp-fcl 1.6.0 HPP fork of FCL -- The Flexible Collision Library

Public Member Functions | List of all members
hpp::fcl::ComputeDistance Class Reference

`#include <hpp/fcl/distance.h>`

## Public Member Functions
| ComputeDistance (const CollisionGeometry *o1, const CollisionGeometry *o2)
FCL_REAL | operator() (const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
FCL_REAL | operator() (const Transform3f &tf1, const Transform3f &tf2, DistanceRequest &request, DistanceResult &result)

## Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeDistance calc_distance (o1, o2);
FCL_REAL distance = calc_distance(tf1, tf2, request, result);

## Constructor & Destructor Documentation

## ◆ ComputeDistance()

hpp::fcl::ComputeDistance::ComputeDistance | ( | const CollisionGeometry * | o1,
|  | const CollisionGeometry * | o2
| ) |  |

## Member Function Documentation

## ◆ operator()() [1/2]

FCL_REAL hpp::fcl::ComputeDistance::operator() | ( | const Transform3f & | tf1,
|  | const Transform3f & | tf2,
|  | const DistanceRequest & | request,
|  | DistanceResult & | result
| ) |  |
| inline

## ◆ operator()() [2/2]

FCL_REAL hpp::fcl::ComputeDistance::operator() | ( | const Transform3f & | tf1,
|  | const Transform3f & | tf2,
|  | DistanceRequest & | request,
|  | DistanceResult & | result
| ) |  |
| inline

The documentation for this class was generated from the following file:

- include/hpp/fcl/distance.h

hpp::fcl::ComputeDistance::ComputeDistance
ComputeDistance(const CollisionGeometry *o1, const CollisionGeometry *o2)
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp::fcl::distance
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.