distance result
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#include <hpp/fcl/collision_data.h>
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| DistanceResult (FCL_REAL min_distance_=std::numeric_limits< FCL_REAL >::max()) |
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void | update (FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_) |
| add distance information into the result More...
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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...
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void | update (const DistanceResult &other_result) |
| add distance information into the result More...
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void | clear () |
| clear the result More...
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bool | operator== (const DistanceResult &other) const |
| whether two DistanceResult are the same or not More...
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FCL_REAL | min_distance |
| minimum distance between two objects. if two objects are in collision, min_distance <= 0. More...
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Vec3f | nearest_points [2] |
| nearest points More...
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Vec3f | normal |
| In case both objects are in collision, store the normal. More...
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const CollisionGeometry * | o1 |
| collision object 1 More...
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const CollisionGeometry * | o2 |
| collision object 2 More...
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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...
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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...
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static const int | NONE = -1 |
| invalid contact primitive information More...
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◆ DistanceResult()
hpp::fcl::DistanceResult::DistanceResult |
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FCL_REAL |
min_distance_ = std::numeric_limits<FCL_REAL>::max() | ) |
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◆ clear()
void hpp::fcl::DistanceResult::clear |
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◆ operator==()
bool hpp::fcl::DistanceResult::operator== |
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const DistanceResult & |
other | ) |
const |
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inline |
◆ update() [1/3]
add distance information into the result
◆ update() [2/3]
add distance information into the result
◆ update() [3/3]
void hpp::fcl::DistanceResult::update |
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const DistanceResult & |
other_result | ) |
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inline |
add distance information into the result
◆ 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] |
◆ NONE
const int hpp::fcl::DistanceResult::NONE = -1 |
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invalid contact primitive information
◆ normal
Vec3f hpp::fcl::DistanceResult::normal |
In case both objects are in collision, store the normal.
◆ o1
◆ o2
The documentation for this struct was generated from the following file: