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. | |
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 |
Definition of a contact point.
Definition at line 72 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 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.
The type of the first body involved in the contact.
Definition at line 89 of file include/moveit/collision_detection/collision_common.h.
The type of the second body involved in the contact.
Definition at line 95 of file include/moveit/collision_detection/collision_common.h.
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.