distance.h 3.79 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.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

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/** @author Jia Pan */
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#ifndef HPP_FCL_DISTANCE_H
#define HPP_FCL_DISTANCE_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 Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. 
/// Return value is the minimum distance generated between the two objects.
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HPP_FCL_DLLAPI FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
                                 const DistanceRequest& request, DistanceResult& result);
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/// @copydoc distance(const CollisionObject*, const CollisionObject*, const DistanceRequest&, DistanceResult&)
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HPP_FCL_DLLAPI FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
                                 const CollisionGeometry* o2, const Transform3f& tf2,
                                 const DistanceRequest& request, DistanceResult& result);
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/// @copydoc distance(const CollisionObject*, const CollisionObject*, const DistanceRequest&, DistanceResult&)
/// \note this function update the initial guess of \c request if requested.
///       See QueryRequest::updateGuess
inline FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
    DistanceRequest& request, DistanceResult& result)
{
  FCL_REAL res = distance(o1, o2, (const DistanceRequest&) request, result);
  request.updateGuess (result);
  return res;
}

/// @copydoc distance(const CollisionObject*, const CollisionObject*, const DistanceRequest&, DistanceResult&)
/// \note this function update the initial guess of \c request if requested.
///       See QueryRequest::updateGuess
inline FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
                         const CollisionGeometry* o2, const Transform3f& tf2,
                         DistanceRequest& request, DistanceResult& result)
{
  FCL_REAL res = distance(o1, tf1, o2, tf2,
      (const DistanceRequest&) request, result);
  request.updateGuess (result);
  return res;
}
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}

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} // namespace hpp

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#endif