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 |
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.
Definition at line 323 of file GazeboGraspFix.cpp.
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inline |
Definition at line 325 of file GazeboGraspFix.cpp.
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inline |
Definition at line 326 of file GazeboGraspFix.cpp.
| 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.