RayHit Struct Reference

Result of a raycast against the NavMap. More...

#include <NavMap.hpp>

Collaboration diagram for RayHit:

Public Attributes
NavCelId	cid {0}
	Id of the NavCel hit.
bool	hit {false}
	True if the ray hit any triangle.
Eigen::Vector3f	p
	World coordinates of intersection.
size_t	surface {0}
	Index of surface hit.
float	t {0.0f}
	Distance along the ray (units of d)

Detailed Description

Result of a raycast against the NavMap.

All fields are valid only when hit is true.

Member Data Documentation

cid

NavCelId cid {0}

Id of the NavCel hit.

hit

bool hit {false}

True if the ray hit any triangle.

p

Eigen::Vector3f p

World coordinates of intersection.

surface

size_t surface {0}

Index of surface hit.

t

float t {0.0f}

Distance along the ray (units of d)

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

• navmap_core/include/navmap_core/NavMap.hpp