collision_detection::DistanceInfo Struct Reference

Contains distance information in the planning frame queried from getDistanceInfo() More...

#include <collision_common.h>

List of all members.

Public Attributes
Eigen::Vector3d	avoidance_vector
double	distance
Eigen::Vector3d	link_point
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string	nearest_obsticle
Eigen::Vector3d	obsticle_point

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Detailed Description

Contains distance information in the planning frame queried from getDistanceInfo()

Definition at line 209 of file collision_common.h.

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Member Data Documentation

Eigen::Vector3d collision_detection::DistanceInfo::avoidance_vector

Normilized Vector created by nearest points

Definition at line 215 of file collision_common.h.

double collision_detection::DistanceInfo::distance

Distance between nearest points

Definition at line 216 of file collision_common.h.

Eigen::Vector3d collision_detection::DistanceInfo::link_point

Point on request link

Definition at line 213 of file collision_common.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string collision_detection::DistanceInfo::nearest_obsticle

The link name for nearest obsticle/link to request link.

Definition at line 212 of file collision_common.h.

Eigen::Vector3d collision_detection::DistanceInfo::obsticle_point

Point on nearest link to requested link

Definition at line 214 of file collision_common.h.

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

• collision_common.h