distance3d.distance.line_to_box

distance3d.distance.line_to_box(line_point, line_direction, box2origin, size)[source]

Compute the shortest distance between line and box.

Parameters:
line_pointarray, shape (3,)

Point on line.

line_directionarray, shape (3,)

Direction of the line. This is assumed to be of unit length.

box2originarray, shape (4, 4)

Pose of the box.

sizearray, shape (3,)

Size of the box along its axes.

Returns:
distfloat

The shortest between line and box.

closest_point_linearray, shape (3,)

Closest point on line.

closest_point_boxarray, shape (3,)

Closest point on box.