collision_detection::Contact Struct Reference

Definition of a contact point. More...

#include <collision_common.h>

Public Attributes
std::string	body_name_1
	The id of the first body involved in the contact. More...
std::string	body_name_2
	The id of the second body involved in the contact. More...
BodyType	body_type_1
	The type of the first body involved in the contact. More...
BodyType	body_type_2
	The type of the second body involved in the contact. More...
double	depth
	depth (penetration between bodies) More...
Eigen::Vector3d	nearest_points [2]
	The two nearest points connecting the two bodies. More...
Eigen::Vector3d	normal
	normal unit vector at contact More...
double	percent_interpolation
	The distance percentage between casted poses until collision. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d	pos
	contact position More...

Detailed Description

Definition of a contact point.

Definition at line 105 of file include/moveit/collision_detection/collision_common.h.

Member Data Documentation

body_name_1

std::string collision_detection::Contact::body_name_1

The id of the first body involved in the contact.

Definition at line 119 of file include/moveit/collision_detection/collision_common.h.

body_name_2

std::string collision_detection::Contact::body_name_2

The id of the second body involved in the contact.

Definition at line 125 of file include/moveit/collision_detection/collision_common.h.

body_type_1

BodyType collision_detection::Contact::body_type_1

The type of the first body involved in the contact.

Definition at line 122 of file include/moveit/collision_detection/collision_common.h.

body_type_2

BodyType collision_detection::Contact::body_type_2

The type of the second body involved in the contact.

Definition at line 128 of file include/moveit/collision_detection/collision_common.h.

depth

double collision_detection::Contact::depth

depth (penetration between bodies)

Definition at line 116 of file include/moveit/collision_detection/collision_common.h.

nearest_points

Eigen::Vector3d collision_detection::Contact::nearest_points[2]

The two nearest points connecting the two bodies.

Definition at line 137 of file include/moveit/collision_detection/collision_common.h.

normal

Eigen::Vector3d collision_detection::Contact::normal

normal unit vector at contact

Definition at line 113 of file include/moveit/collision_detection/collision_common.h.

percent_interpolation

double collision_detection::Contact::percent_interpolation

The distance percentage between casted poses until collision.

If the value is 0, then the collision occured in the start pose. If the value is 1, then the collision occured in the end pose.

Definition at line 134 of file include/moveit/collision_detection/collision_common.h.

pos

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d collision_detection::Contact::pos

contact position

Definition at line 110 of file include/moveit/collision_detection/collision_common.h.

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

• include/moveit/collision_detection/collision_common.h