RobWorkProject  21.8.23-
DistanceStrategy::Result Struct Reference

DistanceResult contains basic information about the distance result between two sets of geometries. These geometry sets. More...

#include <DistanceStrategy.hpp>

void clear ()

## Public Attributes

const kinematics::Framef1
reference to the first frame

const kinematics::Framef2
reference to the second frame

ProximityModel::Ptr a
pointer to the ProximityModel containing the geometries for the first frame

ProximityModel::Ptr b
pointer to the ProximityModel containing the geometries for the second frame

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 f1

int geoIdxA
geometry index to triangle mesh A

int geoIdxB
geometry index to triangle mesh B

unsigned int idx1
index to the first face/triangle that is the closest feature

unsigned int idx2
index to the second face/triangle that is the closest feature

## Friends

std::ostream & operator<< (std::ostream &out, const DistanceStrategy::Result &o)
Streaming operator. More...

## Detailed Description

DistanceResult contains basic information about the distance result between two sets of geometries. These geometry sets.

## ◆ operator<<

 std::ostream& operator<< ( std::ostream & out, const DistanceStrategy::Result & o )
friend

Streaming operator.

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