collision_detection::DistanceResultsData Struct Reference

Generic representation of the distance information for a pair of objects. More...

#include <collision_common.h>

Collaboration diagram for collision_detection::DistanceResultsData:

Public Member Functions
	DistanceResultsData ()
void	clear ()
	Clear structure data. More...
bool	operator< (const DistanceResultsData &other)
	Compare if the distance is less than another. More...
bool	operator> (const DistanceResultsData &other)
	Compare if the distance is greater than another. More...

Public Attributes
double	distance
	The distance between two objects. If two objects are in collision, distance <= 0. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d	nearest_points [2]
	The nearest points. More...
std::string	link_names [2]
	The object link names. More...
BodyType	body_types [2]
	The object body type. More...
Eigen::Vector3d	normal

Detailed Description

Generic representation of the distance information for a pair of objects.

Definition at line 218 of file collision_common.h.

Constructor & Destructor Documentation

DistanceResultsData()

collision_detection::DistanceResultsData::DistanceResultsData ( )

inline

Definition at line 220 of file collision_common.h.

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Member Function Documentation

clear()

void collision_detection::DistanceResultsData::clear ( )

inline

Clear structure data.

Definition at line 247 of file collision_common.h.

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operator<()

bool collision_detection::DistanceResultsData::operator< ( const DistanceResultsData &  other )

inline

Compare if the distance is less than another.

Definition at line 260 of file collision_common.h.

operator>()

bool collision_detection::DistanceResultsData::operator> ( const DistanceResultsData &  other )

inline

Compare if the distance is greater than another.

Definition at line 266 of file collision_common.h.

Member Data Documentation

body_types

BodyType collision_detection::DistanceResultsData::body_types[2]

The object body type.

Definition at line 237 of file collision_common.h.

distance

double collision_detection::DistanceResultsData::distance

The distance between two objects. If two objects are in collision, distance <= 0.

Definition at line 226 of file collision_common.h.

link_names

std::string collision_detection::DistanceResultsData::link_names[2]

The object link names.

Definition at line 234 of file collision_common.h.

nearest_points

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d collision_detection::DistanceResultsData::nearest_points[2]

The nearest points.

Definition at line 231 of file collision_common.h.

normal

Eigen::Vector3d collision_detection::DistanceResultsData::normal

Normalized vector connecting closest points (from link_names[0] to link_names[1])

Usually, when checking convex to convex, the normal is connecting closest points. However, FCL in case of non-convex to non-convex or convex to non-convex returns the contact normal for one of the two triangles that are in contact.

Definition at line 244 of file collision_common.h.

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

• moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h