/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/contact.h File Reference

Defines the contact class hierarchy. More...

#include <Inventor/nodes/SoSeparator.h>
#include <list>
#include <vector>
#include "collisionStructures.h"

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Classes
class	Contact
	A contact between 2 bodies. More...
class	PointContact
	A Point Contact With Friction (PCWF) implementing a Coulomb friction model. More...
class	SoftContact
	Soft Contact implements an SFC model for contacts between soft bodies. More...
class	VirtualContact
	A contact that exists even when a hand is not perfectly touching another object. More...
class	VirtualContactOnObject
struct	Wrench
	A wrench is a 6-vector containing 2 3-vectors for the force and torque components. More...
Defines
#define	CONTACT_HXX
#define	DISPLAY_CONE_SCALE   20.0
#define	MAX_FRICTION_EDGES   100
Enumerations
enum	frictionT { FL, PCWF, SFCE, SFCL }
	Friction type: Frictionless, Point contact with friction, Soft finger contact with elliptic approximation, Soft finger contact with linearized elliptic approximation. More...

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Detailed Description

Defines the contact class hierarchy.

Definition in file contact.h.

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Define Documentation

#define CONTACT_HXX

Definition at line 570 of file contact.h.

#define DISPLAY_CONE_SCALE   20.0

Definition at line 47 of file contact.h.

#define MAX_FRICTION_EDGES   100

Definition at line 48 of file contact.h.

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Enumeration Type Documentation

enum frictionT

Friction type: Frictionless, Point contact with friction, Soft finger contact with elliptic approximation, Soft finger contact with linearized elliptic approximation.

Enumerator:

FL
PCWF
SFCE
SFCL

Definition at line 52 of file contact.h.