distance result More...
#include <distance_request.h>
Public Member Functions | |
void | clear () |
clear the result More... | |
DistanceResult (S min_distance_=std::numeric_limits< S >::max()) | |
void | update (const DistanceResult &other_result) |
add distance information into the result More... | |
void | update (S distance, const CollisionGeometry< S > *o1_, const CollisionGeometry< S > *o2_, int b1_, int b2_) |
add distance information into the result More... | |
void | update (S distance, const CollisionGeometry< S > *o1_, const CollisionGeometry< S > *o2_, int b1_, int b2_, const Vector3< S > &p1, const Vector3< S > &p2) |
add distance information into the result More... | |
Public Attributes | |
intptr_t | 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 query cell id (see OcTree::getNodeByQueryCellId) More... | |
intptr_t | 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 query cell id (see OcTree::getNodeByQueryCellId) More... | |
S | min_distance |
Minimum distance between two objects. More... | |
Vector3< S > | nearest_points [2] |
Nearest points in the world coordinates. More... | |
const CollisionGeometry< S > * | o1 |
collision object 1 More... | |
const CollisionGeometry< S > * | o2 |
collision object 2 More... | |
Static Public Attributes | |
static const int | NONE = -1 |
invalid contact primitive information More... | |
distance result
Definition at line 48 of file distance_request.h.
FCL_EXPORT fcl::DistanceResult< S >::DistanceResult | ( | S | min_distance_ = std::numeric_limits<S>::max() | ) |
Definition at line 53 of file distance_result-inl.h.
FCL_EXPORT void fcl::DistanceResult< S >::clear |
clear the result
Definition at line 127 of file distance_result-inl.h.
FCL_EXPORT void fcl::DistanceResult< S >::update | ( | const DistanceResult< S > & | other_result | ) |
add distance information into the result
Definition at line 110 of file distance_result-inl.h.
FCL_EXPORT void fcl::DistanceResult< S >::update | ( | S | distance, |
const CollisionGeometry< S > * | o1_, | ||
const CollisionGeometry< S > * | o2_, | ||
int | b1_, | ||
int | b2_ | ||
) |
add distance information into the result
Definition at line 66 of file distance_result-inl.h.
FCL_EXPORT void fcl::DistanceResult< S >::update | ( | S | distance, |
const CollisionGeometry< S > * | o1_, | ||
const CollisionGeometry< S > * | o2_, | ||
int | b1_, | ||
int | b2_, | ||
const Vector3< S > & | p1, | ||
const Vector3< S > & | p2 | ||
) |
add distance information into the result
Definition at line 86 of file distance_result-inl.h.
intptr_t fcl::DistanceResult< S >::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 query cell id (see OcTree::getNodeByQueryCellId)
Definition at line 82 of file distance_result.h.
intptr_t fcl::DistanceResult< S >::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 query cell id (see OcTree::getNodeByQueryCellId)
Definition at line 89 of file distance_result.h.
S fcl::DistanceResult< S >::min_distance |
Minimum distance between two objects.
The distance is correct as a positive value when the two objects are not in collision. If they are in collision, min_distance would be a implementation defined negative value, which might not the correct negative distance. In order to get correct negative distance set DistanceRequest::enable_signed_distance to true.
Definition at line 64 of file distance_result.h.
Vector3<S> fcl::DistanceResult< S >::nearest_points[2] |
Nearest points in the world coordinates.
Definition at line 69 of file distance_result.h.
|
static |
invalid contact primitive information
Definition at line 92 of file distance_result.h.
const CollisionGeometry<S>* fcl::DistanceResult< S >::o1 |
collision object 1
Definition at line 72 of file distance_result.h.
const CollisionGeometry<S>* fcl::DistanceResult< S >::o2 |
collision object 2
Definition at line 75 of file distance_result.h.