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:

Public Member Functions

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

Public Attributes

fcl::DistanceResult fcl
 
CollisionObjectPtr_t innerObject
 
CollisionObjectPtr_t outerObject
 

Detailed Description

Result of distance computation between two CollisionObject.

Member Function Documentation

◆ closestPointInner()

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

Get closest point on inner object in global frame,.

◆ closestPointOuter()

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

Get closest point on outer object in global frame,.

◆ distance()

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

Get distance between objects.

Member Data Documentation

◆ fcl

fcl::DistanceResult hpp::model::DistanceResult::fcl

◆ innerObject

CollisionObjectPtr_t hpp::model::DistanceResult::innerObject

◆ outerObject

CollisionObjectPtr_t hpp::model::DistanceResult::outerObject