hpp::model::DistanceResult Struct Reference

Result of distance computation between two CollisionObject. More...

#include <hpp/model/distance-result.hh>

Collaboration diagram for hpp::model::DistanceResult:

List of all members.

Public Member Functions
const value_type &	distance () const
	Get distance between objects.
const fcl::Vec3f &	closestPointInner () const
	Get closest point on inner object in global frame,.
const fcl::Vec3f &	closestPointOuter () const
	Get closest point on outer object in global frame,.
Public Attributes
fcl::DistanceResult	fcl
CollisionObjectPtr_t	innerObject
CollisionObjectPtr_t	outerObject

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Detailed Description

Result of distance computation between two CollisionObject.

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Member Function Documentation

const fcl::Vec3f& hpp::model::DistanceResult::closestPointInner

(

)

const [inline]

Get closest point on inner object in global frame,.

const fcl::Vec3f& hpp::model::DistanceResult::closestPointOuter

(

)

const [inline]

Get closest point on outer object in global frame,.

const value_type& hpp::model::DistanceResult::distance

(

)

const [inline]

Get distance between objects.

References distance().

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Member Data Documentation

fcl::DistanceResult hpp::model::DistanceResult::fcl

CollisionObjectPtr_t hpp::model::DistanceResult::innerObject

CollisionObjectPtr_t hpp::model::DistanceResult::outerObject