/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/SoftContact.h
Go to the documentation of this file.00001 /************************************ 00002 SoftContact.h 00003 Claire Lackner 00004 00005 This implements a class, SoftContact, creates a contact between two models 00006 which is not rigid. The contact is modelled by allowing the two surfaces 00007 to interpenetrate. The models are locally fitted by second order polynomials 00008 around the contact. This polynomial surfaces are allowed to interpenetrate 00009 and interact governed by Hertz contact theory. 00010 00011 *************************************/