Public Attributes
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

Detailed Description

Definition of a contact point.

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


Member Data Documentation

The id of the first body involved in the contact.

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

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.

normal unit vector at contact

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

contact position

Definition at line 77 of file include/moveit/collision_detection/collision_common.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:46