coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
coal::DistanceResult Struct Reference

distance result More...

#include <coal/collision_data.h>

Inheritance diagram for coal::DistanceResult:
Collaboration diagram for coal::DistanceResult:

Public Member Functions

 DistanceResult (Scalar min_distance_=(std::numeric_limits< Scalar >::max)())
 
void update (Scalar distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
 add distance information into the result More...
 
void update (Scalar distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3s &p1, const Vec3s &p2, const Vec3s &normal_)
 add distance information into the result More...
 
void update (const DistanceResult &other_result)
 add distance information into the result More...
 
void clear ()
 clear the result More...
 
bool operator== (const DistanceResult &other) const
 whether two DistanceResult are the same or not More...
 
- Public Member Functions inherited from coal::QueryResult
 QueryResult ()
 

Public Attributes

Scalar min_distance
 minimum distance between two objects. If two objects are in collision and DistanceRequest::enable_signed_distance is activated, min_distance <= 0. More...
 
Vec3s normal
 normal. More...
 
std::array< Vec3s, 2 > nearest_points
 nearest points. See CollisionResult::nearest_points. More...
 
const CollisionGeometryo1
 collision object 1 More...
 
const CollisionGeometryo2
 collision object 2 More...
 
int b1
 information about the nearest point in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell More...
 
int b2
 information about the nearest point in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell More...
 
- Public Attributes inherited from coal::QueryResult
Vec3s cached_gjk_guess
 stores the last GJK ray when relevant. More...
 
support_func_guess_t cached_support_func_guess
 stores the last support function vertex index, when relevant. More...
 
CPUTimes timings
 timings for the given request More...
 

Static Public Attributes

static const int NONE = -1
 invalid contact primitive information More...
 

Detailed Description

distance result

Constructor & Destructor Documentation

◆ DistanceResult()

coal::DistanceResult::DistanceResult ( Scalar  min_distance_ = (std::numeric_limits<Scalar>::max)())
inline

Member Function Documentation

◆ clear()

void coal::DistanceResult::clear ( )
inline

clear the result

◆ operator==()

bool coal::DistanceResult::operator== ( const DistanceResult other) const
inline

whether two DistanceResult are the same or not

◆ update() [1/3]

void coal::DistanceResult::update ( const DistanceResult other_result)
inline

add distance information into the result

◆ update() [2/3]

void coal::DistanceResult::update ( Scalar  distance,
const CollisionGeometry o1_,
const CollisionGeometry o2_,
int  b1_,
int  b2_ 
)
inline

add distance information into the result

◆ update() [3/3]

void coal::DistanceResult::update ( Scalar  distance,
const CollisionGeometry o1_,
const CollisionGeometry o2_,
int  b1_,
int  b2_,
const Vec3s p1,
const Vec3s p2,
const Vec3s normal_ 
)
inline

add distance information into the result

Member Data Documentation

◆ b1

int coal::DistanceResult::b1

information about the nearest point in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if object 1 is geometry shape, it is NONE (-1), if object 1 is octree, it is the id of the cell

◆ b2

int coal::DistanceResult::b2

information about the nearest point in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if object 2 is geometry shape, it is NONE (-1), if object 2 is octree, it is the id of the cell

◆ min_distance

Scalar coal::DistanceResult::min_distance

minimum distance between two objects. If two objects are in collision and DistanceRequest::enable_signed_distance is activated, min_distance <= 0.

Note
The nearest points are the points of the shapes that achieve a distance of DistanceResult::min_distance.

◆ nearest_points

std::array<Vec3s, 2> coal::DistanceResult::nearest_points

nearest points. See CollisionResult::nearest_points.

◆ NONE

const int coal::DistanceResult::NONE = -1
static

invalid contact primitive information

◆ normal

Vec3s coal::DistanceResult::normal

normal.

◆ o1

const CollisionGeometry* coal::DistanceResult::o1

collision object 1

◆ o2

const CollisionGeometry* coal::DistanceResult::o2

collision object 2


The documentation for this struct was generated from the following file: