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   *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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  /** @author Jia Pan */
  
  #ifndef FCL_DISTANCE_H
  #define FCL_DISTANCE_H
  
  #include "fcl/narrowphase/collision_object.h"
  #include "fcl/narrowphase/detail/distance_func_matrix.h"
  #include "fcl/narrowphase/detail/gjk_solver_indep.h"
  #include "fcl/narrowphase/detail/gjk_solver_libccd.h"
  
  namespace fcl
  {
  
  /// @brief Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. 
  /// Return value is the minimum distance generated between the two objects.
  template <typename S>
  S distance(
      const CollisionObject<S>* o1, const CollisionObject<S>* o2,
      const DistanceRequest<S>& request, DistanceResult<S>& result);
  
  template <typename S>
  S distance(
      const CollisionGeometry<S>* o1, const Transform3<S>& tf1,
      const CollisionGeometry<S>* o2, const Transform3<S>& tf2,
      const DistanceRequest<S>& request, DistanceResult<S>& result);
  
  } // namespace fcl
  
  #include "fcl/narrowphase/distance-inl.h"
  
  #endif
  