FCL  0.6.0
Flexible Collision Library
distance_result.h
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35 
38 #ifndef FCL_DISTANCERESULT_H
39 #define FCL_DISTANCERESULT_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
46 template <typename>
47 class CollisionGeometry;
48 
50 template <typename S>
51 struct DistanceResult
52 {
53 public:
54 
57 
59  Vector3<S> nearest_points[2];
60 
63 
66 
71  int b1;
72 
77  int b2;
78 
80  static const int NONE = -1;
81 
82  DistanceResult(S min_distance_ = std::numeric_limits<S>::max());
83 
85  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);
86 
88  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_, const Vector3<S>& p1, const Vector3<S>& p2);
89 
91  void update(const DistanceResult& other_result);
92 
94  void clear();
95 };
96 
99 
100 } // namespace fcl
101 
102 #include "fcl/narrowphase/distance_result-inl.h"
103 
104 #endif
S min_distance
minimum distance between two objects. if two objects are in collision, min_distance <= 0...
Definition: distance_result.h:56
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
distance result
Definition: distance_request.h:48
void update(S distance, const CollisionGeometry< S > *o1_, const CollisionGeometry< S > *o2_, int b1_, int b2_)
add distance information into the result
Definition: distance_result-inl.h:64
int 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 id of the cell
Definition: distance_result.h:71
const CollisionGeometry< S > * o2
collision object 2
Definition: distance_result.h:65
void clear()
clear the result
Definition: distance_result-inl.h:122
The geometry for the object for collision or distance computation.
Definition: collision_geometry.h:59
int 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 id of the cell
Definition: distance_result.h:77
const CollisionGeometry< S > * o1
collision object 1
Definition: distance_result.h:62
static const int NONE
invalid contact primitive information
Definition: distance_result.h:80
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
Vector3< S > nearest_points[2]
nearest points
Definition: distance_result.h:59