DistanceAndGradient Class Reference

Detailed Description

Wrapper that combines a distance value and gradient.

This code uses Vector4d because Vector4d allows for SIMD vector operations, which Vector3d does not.

#include <drake/planning/experimental/sphere_robot_model_collision_checker.h>

Public Member Functions
	DistanceAndGradient (double distance, const Eigen::Vector4d &gradient, multibody::BodyIndex colliding_body_index)
	DistanceAndGradient (double distance, multibody::BodyIndex colliding_body_index)
double	Distance () const
const Eigen::Vector4d &	Gradient () const
multibody::BodyIndex	CollidingBodyIndex () const
std::string	Print () const

Constructor & Destructor Documentation

DistanceAndGradient() [1/2]

DistanceAndGradient	(	double	distance,
		const Eigen::Vector4d &	gradient,
		multibody::BodyIndex	colliding_body_index )

DistanceAndGradient() [2/2]

DistanceAndGradient	(	double	distance,
		multibody::BodyIndex	colliding_body_index )

Member Function Documentation

CollidingBodyIndex()

multibody::BodyIndex CollidingBodyIndex

(

)

const

Distance()

double Distance

(

)

const

Gradient()

const Eigen::Vector4d & Gradient

(

)

const

Print()

std::string Print

(

)

const

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

• drake/planning/experimental/sphere_robot_model_collision_checker.h