coal::DistanceResult Struct Reference

distance result More...

#include <coal/collision_data.h>

Inheritance diagram for coal::DistanceResult:

Public Member Functions
	DistanceResult (CoalScalar min_distance_=(std::numeric_limits< CoalScalar >::max)())
void	update (CoalScalar distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
	add distance information into the result
void	update (CoalScalar distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3s &p1, const Vec3s &p2, const Vec3s &normal_)
	add distance information into the result
void	update (const DistanceResult &other_result)
	add distance information into the result
void	clear ()
	clear the result
bool	operator== (const DistanceResult &other) const
	whether two DistanceResult are the same or not
Public Member Functions inherited from coal::QueryResult
	QueryResult ()

Public Attributes
CoalScalar	min_distance
	minimum distance between two objects. If two objects are in collision and DistanceRequest::enable_signed_distance is activated, min_distance <= 0.
Vec3s	normal
	normal.
std::array< Vec3s, 2 >	nearest_points
	nearest points. See CollisionResult::nearest_points.
const CollisionGeometry *	o1
	collision object 1
const CollisionGeometry *	o2
	collision object 2
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
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
Public Attributes inherited from coal::QueryResult
Vec3s	cached_gjk_guess
	stores the last GJK ray when relevant.
support_func_guess_t	cached_support_func_guess
	stores the last support function vertex index, when relevant.
CPUTimes	timings
	timings for the given request

Static Public Attributes
static const int	NONE = -1
	invalid contact primitive information

Detailed Description

distance result

Constructor & Destructor Documentation

DistanceResult()

coal::DistanceResult::DistanceResult ( CoalScalar min_distance_ = (std::numeric_limits<CoalScalar>::max)() )

inline

Member Function Documentation

clear()

void coal::DistanceResult::clear ( )

inline

clear the result

operator==()

bool coal::DistanceResult::operator== ( const DistanceResult & other ) const

inline

whether two DistanceResult are the same or not

update() [1/3]

void coal::DistanceResult::update ( CoalScalar distance, const CollisionGeometry * o1_, const CollisionGeometry * o2_, int b1_, int b2_ )

inline

add distance information into the result

update() [2/3]

void coal::DistanceResult::update ( CoalScalar distance, const CollisionGeometry * o1_, const CollisionGeometry * o2_, int b1_, int b2_, const Vec3s & p1, const Vec3s & p2, const Vec3s & normal_ )

inline

add distance information into the result

update() [3/3]

void coal::DistanceResult::update ( const DistanceResult & other_result )

inline

add distance information into the result

Member Data Documentation

b1

int coal::DistanceResult::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

b2

int coal::DistanceResult::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

min_distance

CoalScalar coal::DistanceResult::min_distance

minimum distance between two objects. If two objects are in collision and DistanceRequest::enable_signed_distance is activated, min_distance <= 0.

Note

The nearest points are the points of the shapes that achieve a distance of DistanceResult::min_distance.

nearest_points

std::array<Vec3s, 2> coal::DistanceResult::nearest_points

nearest points. See CollisionResult::nearest_points.

NONE

const int coal::DistanceResult::NONE = -1

static

invalid contact primitive information

normal

Vec3s coal::DistanceResult::normal

normal.

o1

const CollisionGeometry* coal::DistanceResult::o1

collision object 1

o2

const CollisionGeometry* coal::DistanceResult::o2

collision object 2

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The documentation for this struct was generated from the following file:

• include/coal/collision_data.h