se3::DistanceResult Struct Reference

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

#include <multibody/geometry.hpp>

List of all members.

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.

Detailed Description

Result of distance computation between two CollisionObjects.


Member Typedef Documentation


Constructor & Destructor Documentation

se3::DistanceResult::DistanceResult ( fcl::DistanceResult  dist_fcl,
const GeomIndex  co1,
const GeomIndex  co2 
) [inline]

Member Function Documentation

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]

Member Data Documentation

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==().