CoRiBoDynamics::GeometryTools::MinDistanceInfo Struct Reference

Public Attributes
vec6	JacobianA
	holds information of minimum distance between two shapes
vec6	JacobianB
	minDistance differentiated with respect to spatial coordinates of object A
double	J_dot_V
	minDistance differentiated with respect to spatial coordinates of object B
double	minDistance
	[d(JA)/dt]*VA+[d(JB)/dt]*VB
double	minDistance_dot
	minimum distance between two shapes
vec3	PA
	current rate of change of minDistance
vec3	PB
	vector from center A to the point-of-shortest-distance
vec3	u
	vector from center B to the point-of-shortest-distance

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

• reloadrepos/fhsim_coribo/src/Utilities/GeometryTools.h