hpp::model::DistanceResult Struct Reference

Result of distance computation between two CollisionObject. More...

#include <hpp/model/distance-result.hh>

Collaboration diagram for hpp::model::DistanceResult:

List of all members.

Public Member Functions

const value_typedistance () const
 Get distance between objects.
const fcl::Vec3fclosestPointInner () const
 Get closest point on inner object in global frame,.
const fcl::Vec3fclosestPointOuter () const
 Get closest point on outer object in global frame,.

Public Attributes

fcl::DistanceResult fcl
CollisionObjectPtr_t innerObject
CollisionObjectPtr_t outerObject

Detailed Description

Result of distance computation between two CollisionObject.


Member Function Documentation

const fcl::Vec3f& hpp::model::DistanceResult::closestPointInner ( ) const [inline]

Get closest point on inner object in global frame,.

const fcl::Vec3f& hpp::model::DistanceResult::closestPointOuter ( ) const [inline]

Get closest point on outer object in global frame,.

const value_type& hpp::model::DistanceResult::distance ( ) const [inline]

Get distance between objects.

References distance().


Member Data Documentation