The data for reporting the signed distance between two geometries, A and B.
It provides the id's of the two geometries, the witness points Ca and Cb on the surfaces of A and B, the signed distance, and nhat_BA_W a direction of fastest increasing distance (always unit length and always point outward from B's surface).
T  The underlying scalar type. Must be a valid Eigen scalar. 
#include <drake/geometry/query_results/signed_distance_pair.h>
Public Member Functions  
SignedDistancePair ()=default  
SignedDistancePair (GeometryId a, GeometryId b, const Vector3< T > &p_ACa_in, const Vector3< T > &p_BCb_in, const T &dist, const Vector3< T > &nhat_BA_W_in)  
Constructor. More...  
void  SwapAAndB () 
Swaps the interpretation of geometries A and B. More...  
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable  
SignedDistancePair (const SignedDistancePair &)=default  
SignedDistancePair &  operator= (const SignedDistancePair &)=default 
SignedDistancePair (SignedDistancePair &&)=default  
SignedDistancePair &  operator= (SignedDistancePair &&)=default 
Public Attributes  
GeometryId  id_A 
The id of the first geometry in the pair. More...  
GeometryId  id_B 
The id of the second geometry in the pair. More...  
Vector3< T >  p_ACa 
The witness point on geometry A's surface, expressed in A's frame. More...  
Vector3< T >  p_BCb 
The witness point on geometry B's surface, expressed in B's frame. More...  
T  distance {} 
The signed distance between p_ACa and p_BCb. More...  
Vector3< T >  nhat_BA_W 
A direction of fastest increasing distance. More...  

default 

default 

default 
SignedDistancePair  (  GeometryId  a, 
GeometryId  b,  
const Vector3< T > &  p_ACa_in,  
const Vector3< T > &  p_BCb_in,  
const T &  dist,  
const Vector3< T > &  nhat_BA_W_in  
) 
Constructor.
a  The id of the first geometry (A). 
b  The id of the second geometry (B). 
p_ACa_in  The witness point on geometry A's surface, in A's frame. 
p_BCb_in  The witness point on geometry B's surface, in B's frame. 
dist  The signed distance between p_A and p_B. 
nhat_BA_W_in  A direction of fastest increasing distance. 

default 

default 
void SwapAAndB  (  ) 
Swaps the interpretation of geometries A and B.
T distance {} 
The signed distance between p_ACa and p_BCb.
GeometryId id_A 
The id of the first geometry in the pair.
GeometryId id_B 
The id of the second geometry in the pair.
Vector3<T> nhat_BA_W 
A direction of fastest increasing distance.
Vector3<T> p_ACa 
The witness point on geometry A's surface, expressed in A's frame.
Vector3<T> p_BCb 
The witness point on geometry B's surface, expressed in B's frame.