Definition of a contact point. More...
#include <collision_common.h>
Public Attributes | |
| std::string | body_name_1 |
| The id of the first body involved in the contact. More... | |
| std::string | body_name_2 |
| The id of the second body involved in the contact. More... | |
| BodyType | body_type_1 |
| The type of the first body involved in the contact. More... | |
| BodyType | body_type_2 |
| The type of the second body involved in the contact. More... | |
| double | depth |
| depth (penetration between bodies) More... | |
| Eigen::Vector3d | normal |
| normal unit vector at contact More... | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d | pos |
| contact position More... | |
Definition of a contact point.
Definition at line 74 of file include/moveit/collision_detection/collision_common.h.
| std::string collision_detection::Contact::body_name_1 |
The id of the first body involved in the contact.
Definition at line 88 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 94 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 91 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 97 of file include/moveit/collision_detection/collision_common.h.
| double collision_detection::Contact::depth |
depth (penetration between bodies)
Definition at line 85 of file include/moveit/collision_detection/collision_common.h.
| Eigen::Vector3d collision_detection::Contact::normal |
normal unit vector at contact
Definition at line 82 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 79 of file include/moveit/collision_detection/collision_common.h.