Public Member Functions | Public Attributes | List of all members
collision_detection::DistanceResultsData Struct Reference

#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
 

Detailed Description

Definition at line 294 of file include/moveit/collision_detection/collision_common.h.

Constructor & Destructor Documentation

collision_detection::DistanceResultsData::DistanceResultsData ( )
inline

Member Function Documentation

void collision_detection::DistanceResultsData::clear ( )
inline

Clear structure data.

Definition at line 321 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::DistanceResultsData::operator< ( const DistanceResultsData other)
inline

Compare if the distance is less than another.

Definition at line 347 of file include/moveit/collision_detection/collision_common.h.

void collision_detection::DistanceResultsData::operator= ( const DistanceResultsData other)
inline

Update structure data given DistanceResultsData object.

Definition at line 334 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::DistanceResultsData::operator> ( const DistanceResultsData other)
inline

Compare if the distance is greater than another.

Definition at line 353 of file include/moveit/collision_detection/collision_common.h.

Member Data Documentation

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.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Feb 9 2019 04:09:04