32 #include "distance_search_base.h"
37 class DistanceSearchContacts:
public DistanceSearchBase {
41 virtual void search_planned_pair(
const PlannedPair& pair,
42 std::vector<Eigen::Vector2i> &pairs_buffer,
43 std::vector<float> &distances_buffer) = 0;
47 void search_between_cells(
const PlannedPair &pair,
50 std::vector<Eigen::Vector2i> &pairs_buffer,
51 std::vector<float> &distances_buffer);
53 void search_inside_cell(
const PlannedPair &pair,
55 std::vector<Eigen::Vector2i> &pairs_buffer,
56 std::vector<float> &distances_buffer);
59 std::vector<Eigen::Vector2i>* pairs;
60 std::vector<float>* distances;
62 void compute_chunk(
int b,
int e,
63 std::vector<Eigen::Vector2i> &pairs_buf,
64 std::vector<float> &dist_buf);