collision_detection::Contact Struct Reference

Definition of a contact point. More...

#include <collision_common.h>

List of all members.

Public Attributes
std::string	body_name_1
	The id of the first body involved in the contact.
std::string	body_name_2
	The id of the second body involved in the contact.
BodyType	body_type_1
	The type of the first body involved in the contact.
BodyType	body_type_2
	The type of the second body involved in the contact.
double	depth
	depth (penetration between bodies)
Eigen::Vector3d	normal
	normal unit vector at contact
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d	pos
	contact position

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Detailed Description

Definition of a contact point.

Definition at line 72 of file include/moveit/collision_detection/collision_common.h.

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Member Data Documentation

std::string collision_detection::Contact::body_name_1

The id of the first body involved in the contact.

Definition at line 86 of file include/moveit/collision_detection/collision_common.h.

std::string collision_detection::Contact::body_name_2

The id of the second body involved in the contact.

Definition at line 92 of file include/moveit/collision_detection/collision_common.h.

BodyType collision_detection::Contact::body_type_1

The type of the first body involved in the contact.

Definition at line 89 of file include/moveit/collision_detection/collision_common.h.

BodyType collision_detection::Contact::body_type_2

The type of the second body involved in the contact.

Definition at line 95 of file include/moveit/collision_detection/collision_common.h.

double collision_detection::Contact::depth

depth (penetration between bodies)

Definition at line 83 of file include/moveit/collision_detection/collision_common.h.

Eigen::Vector3d collision_detection::Contact::normal

normal unit vector at contact

Definition at line 80 of file include/moveit/collision_detection/collision_common.h.

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

contact position

Definition at line 77 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