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Humanoid Path Planner
hpp-fcl
Commits
def58ee8
Commit
def58ee8
authored
May 07, 2020
by
Joseph Mirabel
Browse files
Add collide and distance prototype that update the GJK guess.
parent
bd643945
Changes
4
Hide whitespace changes
Inline
Side-by-side
include/hpp/fcl/collision.h
View file @
def58ee8
...
...
@@ -59,6 +59,30 @@ std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
std
::
size_t
collide
(
const
CollisionGeometry
*
o1
,
const
Transform3f
&
tf1
,
const
CollisionGeometry
*
o2
,
const
Transform3f
&
tf2
,
const
CollisionRequest
&
request
,
CollisionResult
&
result
);
/// @copydoc collide(const CollisionObject*, const CollisionObject*, const CollisionRequest&, CollisionResult&)
/// \note this function update the initial guess of \c request if requested.
/// See QueryRequest::updateGuess
inline
std
::
size_t
collide
(
const
CollisionObject
*
o1
,
const
CollisionObject
*
o2
,
CollisionRequest
&
request
,
CollisionResult
&
result
)
{
std
::
size_t
res
=
collide
(
o1
,
o2
,
(
const
CollisionRequest
&
)
request
,
result
);
request
.
updateGuess
(
result
);
return
res
;
}
/// @copydoc collide(const CollisionObject*, const CollisionObject*, const CollisionRequest&, CollisionResult&)
/// \note this function update the initial guess of \c request if requested.
/// See QueryRequest::updateGuess
inline
std
::
size_t
collide
(
const
CollisionGeometry
*
o1
,
const
Transform3f
&
tf1
,
const
CollisionGeometry
*
o2
,
const
Transform3f
&
tf2
,
CollisionRequest
&
request
,
CollisionResult
&
result
)
{
std
::
size_t
res
=
collide
(
o1
,
tf1
,
o2
,
tf2
,
(
const
CollisionRequest
&
)
request
,
result
);
request
.
updateGuess
(
result
);
return
res
;
}
}
}
// namespace hpp
...
...
include/hpp/fcl/distance.h
View file @
def58ee8
...
...
@@ -54,6 +54,30 @@ FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const Di
FCL_REAL
distance
(
const
CollisionGeometry
*
o1
,
const
Transform3f
&
tf1
,
const
CollisionGeometry
*
o2
,
const
Transform3f
&
tf2
,
const
DistanceRequest
&
request
,
DistanceResult
&
result
);
/// @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
;
}
}
}
// namespace hpp
...
...
python/collision.cc
View file @
def58ee8
...
...
@@ -165,5 +165,5 @@ void exposeCollisionAPI ()
doxygen
::
def
(
"collide"
,
static_cast
<
std
::
size_t
(
*
)(
const
CollisionGeometry
*
,
const
Transform3f
&
,
const
CollisionGeometry
*
,
const
Transform3f
&
,
const
CollisionRequest
&
,
CollisionResult
&
)
>
(
&
collide
));
CollisionRequest
&
,
CollisionResult
&
)
>
(
&
collide
));
}
python/distance.cc
View file @
def58ee8
...
...
@@ -125,5 +125,5 @@ void exposeDistanceAPI ()
doxygen
::
def
(
"distance"
,
static_cast
<
FCL_REAL
(
*
)(
const
CollisionGeometry
*
,
const
Transform3f
&
,
const
CollisionGeometry
*
,
const
Transform3f
&
,
const
DistanceRequest
&
,
DistanceResult
&
)
>
(
&
distance
));
DistanceRequest
&
,
DistanceResult
&
)
>
(
&
distance
));
}
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