Drake
PointPair Struct Reference

Structure containing the results of a collision query. More...

#include <drake/multibody/collision/point_pair.h>

Collaboration diagram for PointPair:
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Public Member Functions

 PointPair ()
 
 PointPair (const Element *elementA_in, const Element *elementB_in, const Eigen::Vector3d &ptA_in, const Eigen::Vector3d &ptB_in, const Eigen::Vector3d &normal_in, double distance_in)
 

Public Attributes

const ElementelementA {nullptr}
 Element A in the pair participating in the collision. More...
 
const ElementelementB {nullptr}
 Element B in the pair participating in the collision. More...
 
ElementId idA {0}
 Id of element A participating in the collision. More...
 
ElementId idB {0}
 Id of element B participating in the collision. More...
 
Eigen::Vector3d ptA
 Collision point on the surface of body A. More...
 
Eigen::Vector3d ptB
 Collision point on the surface of body B. More...
 
Eigen::Vector3d normal
 Outwards normal on body B. More...
 
double distance {}
 Distance between the point on body A and the point on body B. More...
 

Detailed Description

Structure containing the results of a collision query.

Constructor & Destructor Documentation

PointPair ( )
inline
PointPair ( const Element elementA_in,
const Element elementB_in,
const Eigen::Vector3d &  ptA_in,
const Eigen::Vector3d &  ptB_in,
const Eigen::Vector3d &  normal_in,
double  distance_in 
)
inline

Member Data Documentation

double distance {}

Distance between the point on body A and the point on body B.

const Element* elementA {nullptr}

Element A in the pair participating in the collision.

const Element* elementB {nullptr}

Element B in the pair participating in the collision.

ElementId idA {0}

Id of element A participating in the collision.

ElementId idB {0}

Id of element B participating in the collision.

Eigen::Vector3d normal

Outwards normal on body B.

On body A it points in the opposite direction.

Eigen::Vector3d ptA

Collision point on the surface of body A.

Eigen::Vector3d ptB

Collision point on the surface of body B.


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