distance result More...

#include <collision_data.h>

Public Member Functions
void	clear ()
	clear the result
	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
void	update (FCL_REAL distance, const CollisionGeometry o1_, const CollisionGeometry o2_, int b1_, int b2_, const Vec3f &p1, const Vec3f &p2)
	add distance information into the result
void	update (const DistanceResult &other_result)
	add distance information into the result
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
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
FCL_REAL	min_distance
	minimum distance between two objects. if two objects are in collision, min_distance <= 0.
Vec3f	nearest_points [2]
	nearest points
const CollisionGeometry *	o1
	collision object 1
const CollisionGeometry *	o2
	collision object 2
Static Public Attributes
static const int	NONE = -1
	invalid contact primitive information

Detailed Description

distance result

Definition at line 296 of file collision_data.h.

Constructor & Destructor Documentation

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

Definition at line 328 of file collision_data.h.

Member Function Documentation

void fcl::DistanceResult::clear ( ) [inline]

clear the result

Definition at line 381 of file collision_data.h.

void fcl::DistanceResult::update	(	FCL_REAL	distance,
		const CollisionGeometry *	o1_,
		const CollisionGeometry *	o2_,
		int	b1_,
		int	b2_
	)		`[inline]`

add distance information into the result

Definition at line 338 of file collision_data.h.

void fcl::DistanceResult::update	(	FCL_REAL	distance,
		const CollisionGeometry *	o1_,
		const CollisionGeometry *	o2_,
		int	b1_,
		int	b2_,
		const Vec3f &	p1,
		const Vec3f &	p2
	)		`[inline]`

add distance information into the result

Definition at line 351 of file collision_data.h.

void fcl::DistanceResult::update ( const DistanceResult & other_result ) [inline]

add distance information into the result

Definition at line 366 of file collision_data.h.

Member Data Documentation

int 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 317 of file collision_data.h.

int 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 323 of file collision_data.h.

FCL_REAL fcl::DistanceResult::min_distance

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

Definition at line 302 of file collision_data.h.

Vec3f fcl::DistanceResult::nearest_points[2]

nearest points

Definition at line 305 of file collision_data.h.

const int fcl::DistanceResult::NONE = -1 [static]

invalid contact primitive information

Definition at line 326 of file collision_data.h.

const CollisionGeometry* fcl::DistanceResult::o1

collision object 1