distance_func_matrix.h 2.94 KB
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/*
 * Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     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
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

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#ifndef HPP_FCL_DISTANCE_FUNC_MATRIX_H
#define HPP_FCL_DISTANCE_FUNC_MATRIX_H
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#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
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namespace hpp
{
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namespace fcl
{

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/// @brief distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
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template<typename GJKSolver>
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struct DistanceFunctionMatrix
{
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  /// @brief 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);
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  typedef FCL_REAL (*DistanceFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
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                                   const DistanceRequest& request, DistanceResult& result);
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  /// @brief each item in the distance matrix is a function to handle distance between objects of type1 and type2
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  DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];
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  DistanceFunctionMatrix();
};

}

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} // namespace hpp

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#endif