DistanceResult.hpp

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#ifndef DART_COLLISION_DISTANCE_RESULT_HPP_
#define DART_COLLISION_DISTANCE_RESULT_HPP_
 
#include <Eigen/Dense>
 
namespace dart {
 
namespace dynamics {
class ShapeFrame;
} // namesapce dynamics
 
namespace collision {
 
struct DistanceResult
{
  double minDistance;
 
  double unclampedMinDistance;
 
  const dynamics::ShapeFrame* shapeFrame1;
 
  const dynamics::ShapeFrame* shapeFrame2;
 
  Eigen::Vector3d nearestPoint1;
 
  Eigen::Vector3d nearestPoint2;
 
  DistanceResult();
 
  void clear();
 
  bool found() const;
 
  bool isMinDistanceClamped() const;
};
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_DISTANCE_RESULT_HPP_