RobWorkProject
21.8.23

DistanceResult contains basic information about the distance result between two sets of geometries. These geometry sets. More...
#include <DistanceStrategy.hpp>
Public Member Functions  
void  clear () 
Public Attributes  
const kinematics::Frame *  f1 
reference to the first frame  
const kinematics::Frame *  f2 
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...  
DistanceResult contains basic information about the distance result between two sets of geometries. These geometry sets.

friend 
Streaming operator.