collision_space::EnvironmentModel::Contact Struct Reference

Definition of a contact point. More...

#include <environment.h>

List of all members.

Public Attributes
double	depth
	depth (penetration between bodies)
const planning_models::KinematicModel::LinkModel *	link1
	first link involved in contact
unsigned int	link1_attached_body_index
	if the contact with link1 is with an attached body this index will be non-zero
const planning_models::KinematicModel::LinkModel *	link2
	if the contact is between two links, this is not NULL
unsigned int	link2_attached_body_index
	if the contact with link2 is with an attached body this index will be non-zero
btVector3	normal
	normal unit vector at contact
std::string	object_name
btVector3	pos
	contact position

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Detailed Description

Definition of a contact point.

Definition at line 49 of file environment.h.

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Member Data Documentation

double collision_space::EnvironmentModel::Contact::depth

depth (penetration between bodies)

Definition at line 51 of file environment.h.

const planning_models::KinematicModel::LinkModel* collision_space::EnvironmentModel::Contact::link1

first link involved in contact

Definition at line 53 of file environment.h.

unsigned int collision_space::EnvironmentModel::Contact::link1_attached_body_index

if the contact with link1 is with an attached body this index will be non-zero

Definition at line 56 of file environment.h.

const planning_models::KinematicModel::LinkModel* collision_space::EnvironmentModel::Contact::link2

if the contact is between two links, this is not NULL

Definition at line 59 of file environment.h.

unsigned int collision_space::EnvironmentModel::Contact::link2_attached_body_index

if the contact with link2 is with an attached body this index will be non-zero

Definition at line 62 of file environment.h.

btVector3 collision_space::EnvironmentModel::Contact::normal

normal unit vector at contact

Definition at line 49 of file environment.h.

std::string collision_space::EnvironmentModel::Contact::object_name

Definition at line 65 of file environment.h.

btVector3 collision_space::EnvironmentModel::Contact::pos

contact position

Definition at line 47 of file environment.h.

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

• environment.h