RobWorkProject
21.8.23

DistanceResult contains basic information about the distance result between two frames. More...
#include <DistanceMultiStrategy.hpp>
Public Member Functions  
void  clear () 
Public Attributes  
ProximityModel::Ptr  a 
reference to the first proximity model  
ProximityModel::Ptr  b 
reference to the second proximity model  
math::Vector3D< double >  p1 
Closest point on f1 to f2, described in world reference frame.  
math::Vector3D< double >  p2 
Closest point on f2 to f1, described in world reference frame.  
double  distance 
distance between frame f1 and frame f2  
std::vector< math::Vector3D< double > >  p1s 
Closest points on f1 to f2, described in world reference frame.  
std::vector< math::Vector3D< double > >  p2s 
Closest point on f2 to f1, described in world reference frame.  
std::vector< int >  geoIdxA 
geometry index to geometry in object A  
std::vector< int >  geoIdxB 
geometry index to geometry in object B  
std::vector< int >  p1prims 
indices to the primitives which are the closest points on the first proximity model  
std::vector< int >  p2prims 
indices to the primitives which are the closest points on the second proximity model  
std::vector< double >  distances 
distances between contact points  
DistanceResult contains basic information about the distance result between two frames.