gazebo::GazeboGraspFix::CollidingPoint Class Reference

List of all members.

Public Member Functions
	CollidingPoint ()
	CollidingPoint (const CollidingPoint &o)
Public Attributes
physics::CollisionPtr	collLink
physics::CollisionPtr	collObj
gazebo::math::Vector3	force
std::string	gripperName
gazebo::math::Vector3	objPos
gazebo::math::Vector3	pos
int	sum

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Detailed Description

Helper class to encapsulate a collision information. One contact has two bodies, and only the ones where one of the bodies is a gripper link are considered. Each contact consists of a *list* of forces with their own origin/position each (e.g. when the object and gripper are colliding at several places). The averages of each contact's force vectors along with their origins are *accumulated* in the given Vector3 pos and objects. The number of additions is stored in sum. This is to get the average force application over time between link and object.

Author:

Jennifer Buehler

Definition at line 323 of file GazeboGraspFix.cpp.

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Constructor & Destructor Documentation

gazebo::GazeboGraspFix::CollidingPoint::CollidingPoint

(

)

[inline]

Definition at line 325 of file GazeboGraspFix.cpp.

gazebo::GazeboGraspFix::CollidingPoint::CollidingPoint

(

const CollidingPoint &

o

)

[inline]

Definition at line 326 of file GazeboGraspFix.cpp.

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Member Data Documentation

physics::CollisionPtr gazebo::GazeboGraspFix::CollidingPoint::collLink

Definition at line 341 of file GazeboGraspFix.cpp.

physics::CollisionPtr gazebo::GazeboGraspFix::CollidingPoint::collObj

Definition at line 341 of file GazeboGraspFix.cpp.

gazebo::math::Vector3 gazebo::GazeboGraspFix::CollidingPoint::force

Definition at line 344 of file GazeboGraspFix.cpp.

std::string gazebo::GazeboGraspFix::CollidingPoint::gripperName

Definition at line 338 of file GazeboGraspFix.cpp.

gazebo::math::Vector3 gazebo::GazeboGraspFix::CollidingPoint::objPos

Definition at line 352 of file GazeboGraspFix.cpp.

gazebo::math::Vector3 gazebo::GazeboGraspFix::CollidingPoint::pos

Definition at line 348 of file GazeboGraspFix.cpp.

int gazebo::GazeboGraspFix::CollidingPoint::sum

Definition at line 357 of file GazeboGraspFix.cpp.

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

• GazeboGraspFix.cpp