DART
6.10.1
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#include <DistanceOption.hpp>
Public Member Functions | |
DistanceOption (bool enableNearestPoints=false, double distanceLowerBound=0.0, const std::shared_ptr< DistanceFilter > &distanceFilter=nullptr) | |
Constructor. More... | |
Public Attributes | |
bool | enableNearestPoints |
Whether to calculate the nearest points. More... | |
double | distanceLowerBound |
Stopping criteria for distance calculation in broadphase. More... | |
std::shared_ptr< DistanceFilter > | distanceFilter |
Distance filter for excluding ShapeFrame pairs from distance calculation in broadphase. More... | |
dart::collision::DistanceOption::DistanceOption | ( | bool | enableNearestPoints = false , |
double | distanceLowerBound = 0.0 , |
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const std::shared_ptr< DistanceFilter > & | distanceFilter = nullptr |
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Constructor.
std::shared_ptr<DistanceFilter> dart::collision::DistanceOption::distanceFilter |
Distance filter for excluding ShapeFrame pairs from distance calculation in broadphase.
If nullptr, every pairs of ShapeFrames in the CollisionGroup(s) are checked. The default is nullptr.
double dart::collision::DistanceOption::distanceLowerBound |
Stopping criteria for distance calculation in broadphase.
This option is used for early termination of distance calculate that stops as soon as a distance is found that is equal to or less than the lower bound. If you want to check all the shape pairs without the early termination then set this value to -inf.
The default value is 0.0.
bool dart::collision::DistanceOption::enableNearestPoints |
Whether to calculate the nearest points.
The default is false.