#include <collision_common.h>
Public Member Functions | |
void | clear () |
Clear structure data. More... | |
DistanceResultsData () | |
bool | operator< (const DistanceResultsData &other) |
Compare if the distance is less than another. More... | |
void | operator= (const DistanceResultsData &other) |
Update structure data given DistanceResultsData object. More... | |
bool | operator> (const DistanceResultsData &other) |
Compare if the distance is greater than another. More... | |
Public Attributes | |
BodyType | body_types [2] |
The object body type. More... | |
double | distance |
The distance between two objects. If two objects are in collision, distance <= 0. More... | |
std::string | link_names [2] |
The object link names. More... | |
Eigen::Vector3d | nearest_points [2] |
The nearest points. More... | |
Eigen::Vector3d | normal |
Definition at line 294 of file include/moveit/collision_detection/collision_common.h.
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inline |
Definition at line 296 of file include/moveit/collision_detection/collision_common.h.
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inline |
Clear structure data.
Definition at line 321 of file include/moveit/collision_detection/collision_common.h.
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inline |
Compare if the distance is less than another.
Definition at line 347 of file include/moveit/collision_detection/collision_common.h.
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inline |
Update structure data given DistanceResultsData object.
Definition at line 334 of file include/moveit/collision_detection/collision_common.h.
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inline |
Compare if the distance is greater than another.
Definition at line 353 of file include/moveit/collision_detection/collision_common.h.
BodyType collision_detection::DistanceResultsData::body_types[2] |
The object body type.
Definition at line 311 of file include/moveit/collision_detection/collision_common.h.
double collision_detection::DistanceResultsData::distance |
The distance between two objects. If two objects are in collision, distance <= 0.
Definition at line 302 of file include/moveit/collision_detection/collision_common.h.
std::string collision_detection::DistanceResultsData::link_names[2] |
The object link names.
Definition at line 308 of file include/moveit/collision_detection/collision_common.h.
Eigen::Vector3d collision_detection::DistanceResultsData::nearest_points[2] |
The nearest points.
Definition at line 305 of file include/moveit/collision_detection/collision_common.h.
Eigen::Vector3d collision_detection::DistanceResultsData::normal |
Normalized vector connecting closest points (from link_names[0] to link_names[1])
Usually, when checking convex to convex, the normal is connecting closest points. However, FCL in case of non-convex to non-convex or convex to non-convex returns the contact normal for one of the two triangles that are in contact.
Definition at line 318 of file include/moveit/collision_detection/collision_common.h.