hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
hpp::fcl::DistanceResult Struct Reference

distance result More...

#include <hpp/fcl/collision_data.h>

Collaboration diagram for hpp::fcl::DistanceResult:

Public Member Functions

 DistanceResult (FCL_REAL min_distance_=std::numeric_limits< FCL_REAL >::max())
 
void update (FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
 add distance information into the result More...
 
void update (FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &p1, const Vec3f &p2, const Vec3f &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 Attributes

FCL_REAL min_distance
 minimum distance between two objects. if two objects are in collision, min_distance <= 0. More...
 
Vec3f nearest_points [2]
 nearest points More...
 
Vec3f normal
 In case both objects are in collision, store the normal. 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...
 

Static Public Attributes

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

Detailed Description

distance result

Constructor & Destructor Documentation

◆ DistanceResult()

hpp::fcl::DistanceResult::DistanceResult ( FCL_REAL  min_distance_ = std::numeric_limits<FCL_REAL>::max())
inline

Member Function Documentation

◆ clear()

void hpp::fcl::DistanceResult::clear ( )
inline

clear the result

◆ operator==()

bool hpp::fcl::DistanceResult::operator== ( const DistanceResult other) const
inline

whether two DistanceResult are the same or not

◆ update() [1/3]

void hpp::fcl::DistanceResult::update ( FCL_REAL  distance,
const CollisionGeometry o1_,
const CollisionGeometry o2_,
int  b1_,
int  b2_ 
)
inline

add distance information into the result

◆ update() [2/3]

void hpp::fcl::DistanceResult::update ( FCL_REAL  distance,
const CollisionGeometry o1_,
const CollisionGeometry o2_,
int  b1_,
int  b2_,
const Vec3f p1,
const Vec3f p2,
const Vec3f normal_ 
)
inline

add distance information into the result

◆ update() [3/3]

void hpp::fcl::DistanceResult::update ( const DistanceResult other_result)
inline

add distance information into the result

Member Data Documentation

◆ b1

int hpp::fcl::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 hpp::fcl::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

FCL_REAL hpp::fcl::DistanceResult::min_distance

minimum distance between two objects. if two objects are in collision, min_distance <= 0.

◆ nearest_points

Vec3f hpp::fcl::DistanceResult::nearest_points[2]

nearest points

◆ NONE

const int hpp::fcl::DistanceResult::NONE = -1
static

invalid contact primitive information

◆ normal

Vec3f hpp::fcl::DistanceResult::normal

In case both objects are in collision, store the normal.

◆ o1

const CollisionGeometry* hpp::fcl::DistanceResult::o1

collision object 1

◆ o2

const CollisionGeometry* hpp::fcl::DistanceResult::o2

collision object 2


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