Public Attributes | List of all members
collision_detection::Contact Struct Reference

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...
 

Detailed Description

Definition of a contact point.

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

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.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Jan 21 2018 03:54:29