FCL  0.6.0
Flexible Collision Library
distance_request.h
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35 
38 #ifndef FCL_DISTANCEREQUEST_H
39 #define FCL_DISTANCEREQUEST_H
40 
41 #include "fcl/common/types.h"
42 #include "fcl/narrowphase/gjk_solver_type.h"
43 
44 namespace fcl
45 {
46 
47 template <typename S>
49 
51 template <typename S>
53 {
56 
58  S rel_err; // relative error, between 0 and 1
59  S abs_err; // absoluate error
60 
63 
64  DistanceRequest(bool enable_nearest_points_ = false,
65  S rel_err_ = 0.0,
66  S abs_err_ = 0.0,
67  GJKSolverType gjk_solver_type_ = GST_LIBCCD);
68 
69  bool isSatisfied(const DistanceResult<S>& result) const;
70 };
71 
74 
75 } // namespace fcl
76 
77 #include "fcl/narrowphase/distance_request-inl.h"
78 
79 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
distance result
Definition: distance_request.h:48
S rel_err
error threshold for approximate distance
Definition: distance_request.h:58
bool enable_nearest_points
whether to return the nearest points
Definition: distance_request.h:55
GJKSolverType gjk_solver_type
narrow phase solver type
Definition: distance_request.h:62
request to the distance computation
Definition: distance_request.h:52
GJKSolverType
Type of narrow phase GJK solver.
Definition: gjk_solver_type.h:45