33 #ifndef DART_COLLISION_DISTANCE_RESULT_HPP_
34 #define DART_COLLISION_DISTANCE_RESULT_HPP_
36 #include <Eigen/Dense>
Definition: ShapeFrame.hpp:192
Definition: BulletCollisionDetector.cpp:65
Definition: DistanceResult.hpp:47
double unclampedMinDistance
Unclamped minimum distance that is the first distance equal to or less than DistanceOption::distanceL...
Definition: DistanceResult.hpp:73
double minDistance
Minimum singed distance between the checked Shape pairs.
Definition: DistanceResult.hpp:63
Eigen::Vector3d nearestPoint2
The nearest point on DistanceResult::shapeFrame2 expressed the world coordinates.
Definition: DistanceResult.hpp:103
bool isMinDistanceClamped() const
Get true if the minimum distance was not clamped (minDistance == unclampedMinDistance).
Definition: DistanceResult.cpp:76
const dynamics::ShapeFrame * shapeFrame2
Second ShapeFrame of the minDistance.
Definition: DistanceResult.hpp:83
bool found() const
Get true if the result is valid (at least one shape pair was checked and the result values are good t...
Definition: DistanceResult.cpp:67
DistanceResult()
Constructor.
Definition: DistanceResult.cpp:42
void clear()
Clear the result.
Definition: DistanceResult.cpp:54
Eigen::Vector3d nearestPoint1
The nearest point on DistanceResult::shapeFrame1 expressed in the world coordinates.
Definition: DistanceResult.hpp:93
const dynamics::ShapeFrame * shapeFrame1
First ShapeFrame of the minDistance.
Definition: DistanceResult.hpp:78