rcpdf_interface::Contact Class Reference

Define a contact zone on the robot body. More...

#include <contact.hh>

List of all members.

Public Member Functions
void	clear ()
	Contact ()
	~Contact ()
Public Attributes
boost::shared_ptr< Geometry >	geometry_
	Geometry of the contact zone.
boost::shared_ptr< Limit >	limit_
	Optional contact limitations.
std::string	link_
	Link on which the contact is attached.
std::string	name_
	Contact name.
Pose	origin_
	Contact zone origin with respect to the link origin frame.

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Detailed Description

Define a contact zone on the robot body.

A contact zone is a zone which can sustain a reaction force from the environment.

For instance, the robot can, at least partially, be sustained by lying on this part of its body.

Definition at line 44 of file contact.hh.

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Constructor & Destructor Documentation

rcpdf_interface::Contact::Contact

(

)

[inline, explicit]

Definition at line 47 of file contact.hh.

rcpdf_interface::Contact::~Contact

(

)

[inline]

Definition at line 54 of file contact.hh.

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Member Function Documentation

void rcpdf_interface::Contact::clear

(

)

[inline]

Definition at line 85 of file contact.hh.

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Member Data Documentation

boost::shared_ptr<Geometry> rcpdf_interface::Contact::geometry_

Geometry of the contact zone.

See documentation of the geometry node in the URDF documentation.

Definition at line 79 of file contact.hh.

boost::shared_ptr<Limit> rcpdf_interface::Contact::limit_

Optional contact limitations.

Define under which conditions this contact can be used safely.

Definition at line 83 of file contact.hh.

std::string rcpdf_interface::Contact::link_

Link on which the contact is attached.

This link must exist in the associated robot description. This package do not require a robot description.

Definition at line 67 of file contact.hh.

std::string rcpdf_interface::Contact::name_

Contact name.

Must be unique among all robot contacts. It is used to identify a particular contact.

Definition at line 61 of file contact.hh.

Pose rcpdf_interface::Contact::origin_

Contact zone origin with respect to the link origin frame.

See URDF documentation for more information.

Definition at line 73 of file contact.hh.

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

• contact.hh