distance result More...
#include <collision_data.h>
Public Member Functions | |
| void | clear () |
| clear the result More... | |
| DistanceResult (FCL_REAL min_distance_=(std::numeric_limits< FCL_REAL >::max)()) | |
| bool | operator== (const DistanceResult &other) const |
| whether two DistanceResult are the same or not More... | |
| 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... | |
 Public Member Functions inherited from hpp::fcl::QueryResult | |
| QueryResult () | |
Public Attributes | |
| 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... | |
| 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 CollisionGeometry * | o1 |
| collision object 1 More... | |
| const CollisionGeometry * | o2 |
| collision object 2 More... | |
| Public Attributes inherited from hpp::fcl::QueryResult | |
| Vec3f | 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
Definition at line 420 of file collision_data.h.
Constructor & Destructor Documentation
◆ DistanceResult()
|
inline |
Definition at line 453 of file collision_data.h.
Member Function Documentation
◆ clear()
|
inline |
clear the result
Definition at line 504 of file collision_data.h.
◆ operator==()
|
inline |
whether two DistanceResult are the same or not
Definition at line 517 of file collision_data.h.
◆ update() [1/3]
|
inline |
add distance information into the result
Definition at line 462 of file collision_data.h.
◆ update() [2/3]
|
inline |
add distance information into the result
Definition at line 474 of file collision_data.h.
◆ update() [3/3]
|
inline |
add distance information into the result
Definition at line 490 of file collision_data.h.
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
Definition at line 442 of file collision_data.h.
◆ 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
Definition at line 448 of file collision_data.h.
◆ min_distance
| FCL_REAL hpp::fcl::DistanceResult::min_distance |
minimum distance between two objects. if two objects are in collision, min_distance <= 0.
Definition at line 424 of file collision_data.h.
◆ nearest_points
| Vec3f hpp::fcl::DistanceResult::nearest_points[2] |
nearest points
Definition at line 427 of file collision_data.h.
◆ NONE
|
static |
invalid contact primitive information
Definition at line 451 of file collision_data.h.
◆ normal
| Vec3f hpp::fcl::DistanceResult::normal |
In case both objects are in collision, store the normal.
Definition at line 430 of file collision_data.h.
◆ o1
| const CollisionGeometry* hpp::fcl::DistanceResult::o1 |
collision object 1
Definition at line 433 of file collision_data.h.
◆ o2
| const CollisionGeometry* hpp::fcl::DistanceResult::o2 |
collision object 2
Definition at line 436 of file collision_data.h.
The documentation for this struct was generated from the following file: