FCL  0.6.0
Flexible Collision Library
distance_request-inl.h
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35 
38 #ifndef FCL_DISTANCEREQUEST_INL_H
39 #define FCL_DISTANCEREQUEST_INL_H
40 
41 #include "fcl/narrowphase/distance_request.h"
42 
43 #include "fcl/narrowphase/distance_result.h"
44 
45 namespace fcl
46 {
47 
48 //==============================================================================
49 extern template
50 struct DistanceRequest<double>;
51 
52 //==============================================================================
53 template <typename S>
54 DistanceRequest<S>::DistanceRequest(
55  bool enable_nearest_points_,
56  S rel_err_,
57  S abs_err_,
58  GJKSolverType gjk_solver_type_)
59  : enable_nearest_points(enable_nearest_points_),
60  rel_err(rel_err_),
61  abs_err(abs_err_),
62  gjk_solver_type(gjk_solver_type_)
63 {
64  // Do nothing
65 }
66 
67 //==============================================================================
68 template <typename S>
69 bool DistanceRequest<S>::isSatisfied(
70  const DistanceResult<S>& result) const
71 {
72  return (result.min_distance <= 0);
73 }
74 
75 } // namespace fcl
76 
77 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
GJKSolverType
Type of narrow phase GJK solver.
Definition: gjk_solver_type.h:45