distance_result.h
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35 
38 #ifndef FCL_DISTANCERESULT_H
39 #define FCL_DISTANCERESULT_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
46 template <typename>
47 class CollisionGeometry;
48 
50 template <typename S>
51 struct FCL_EXPORT DistanceResult
52 {
53 public:
54 
65 
69  Vector3<S> nearest_points[2];
70 
73 
76 
83 
90 
92  static const int NONE = -1;
93 
94  DistanceResult(S min_distance_ = std::numeric_limits<S>::max());
95 
97  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);
98 
100  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_, const Vector3<S>& p1, const Vector3<S>& p2);
101 
103  void update(const DistanceResult& other_result);
104 
106  void clear();
107 };
108 
111 
112 } // namespace fcl
113 
115 
116 #endif
distance_result-inl.h
fcl::DistanceResult::o1
const CollisionGeometry< S > * o1
collision object 1
Definition: distance_result.h:72
types.h
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::DistanceResult::b1
intptr_t b1
information about the nearest point in object 1 if object 1 is mesh or point cloud,...
Definition: distance_result.h:82
fcl::DistanceResult::b2
intptr_t b2
information about the nearest point in object 2 if object 2 is mesh or point cloud,...
Definition: distance_result.h:89
max
static T max(T x, T y)
Definition: svm.cpp:52
fcl::DistanceResult
distance result
Definition: distance_request.h:48
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_geometry.h:58
fcl::DistanceResult::min_distance
S min_distance
Minimum distance between two objects.
Definition: distance_result.h:64
fcl::intptr_t
std::intptr_t intptr_t
Definition: types.h:63
fcl::DistanceResult::o2
const CollisionGeometry< S > * o2
collision object 2
Definition: distance_result.h:75
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Sat Sep 11 2021 02:37:41