Result of distance computation between two CollisionObjects. More...
#include <multibody/geometry.hpp>
Public Types | |
typedef Model::Index | Index |
typedef Model::GeomIndex | GeomIndex |
Public Member Functions | |
DistanceResult (fcl::DistanceResult dist_fcl, const GeomIndex co1, const GeomIndex co2) | |
double | distance () const |
Return the minimal distance between two geometry objects. | |
Eigen::Vector3d | closestPointInner () const |
Return the witness point on the inner object expressed in global frame. | |
Eigen::Vector3d | closestPointOuter () const |
Return the witness point on the outer object expressed in global frame. | |
bool | operator== (const DistanceResult &other) const |
Public Attributes | |
fcl::DistanceResult | fcl_distance_result |
The FCL result of the distance computation. | |
GeomIndex | object1 |
Index of the first colision object. | |
GeomIndex | object2 |
Index of the second colision object. |
Result of distance computation between two CollisionObjects.
se3::DistanceResult::DistanceResult | ( | fcl::DistanceResult | dist_fcl, |
const GeomIndex | co1, | ||
const GeomIndex | co2 | ||
) | [inline] |
Eigen::Vector3d se3::DistanceResult::closestPointInner | ( | ) | const [inline] |
Return the witness point on the inner object expressed in global frame.
References fcl_distance_result, and se3::toVector3d().
Referenced by operator==().
Eigen::Vector3d se3::DistanceResult::closestPointOuter | ( | ) | const [inline] |
Return the witness point on the outer object expressed in global frame.
References fcl_distance_result, and se3::toVector3d().
Referenced by operator==().
double se3::DistanceResult::distance | ( | ) | const [inline] |
Return the minimal distance between two geometry objects.
References fcl_distance_result.
Referenced by operator==().
bool se3::DistanceResult::operator== | ( | const DistanceResult & | other | ) | const [inline] |
References closestPointInner(), closestPointOuter(), distance(), object1, and object2.
fcl::DistanceResult se3::DistanceResult::fcl_distance_result |
The FCL result of the distance computation.
Referenced by closestPointInner(), closestPointOuter(), and distance().
Index of the first colision object.
Referenced by operator==().
Index of the second colision object.
Referenced by operator==().