/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/collisionStructures.h File Reference

#include <vector>
#include "matvec3D.h"

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Classes
struct	CollisionDataS
struct	ContactDataS
Typedefs
typedef struct CollisionDataS	CollisionData
typedef std::vector < CollisionData >	CollisionReport
typedef struct ContactDataS	ContactData
typedef std::vector< ContactData >	ContactReport
typedef std::vector< position >	Neighborhood

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Detailed Description

Defines the data structures that are used for collision and contact detection in GraspIt.

Definition in file collisionStructures.h.

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Typedef Documentation

typedef struct CollisionDataS CollisionData

A collision data structure contains pointers to the two bodies involved. When used for a collision, this is all the information available. If used for a contact, it also hold a list of all the contacts between the two bodies. Recall that a contact is defined as a location where the two bodies are separated by less than the contact threshold (but never interpenetrating).

typedef std::vector<CollisionData> CollisionReport

A collision report is a list of multiple collision data structures, usually one for each pair of colliding or contacting bodies.

Definition at line 91 of file collisionStructures.h.

typedef struct ContactDataS ContactData

A contact data structure will hold:

• the position on each body (in local coordinate system) where the contact is occuring.
• the local surface normal at the contact on each body
• the squared distance between the bodies
• optionally, a neighborhood of vertices on each body around the contact. This is used for computing analytical patches on each body around the contact.

typedef std::vector<ContactData> ContactReport

A contact report is a list of multiple contacts, usually all occuring between the same two bodies.

Definition at line 72 of file collisionStructures.h.

typedef std::vector<position> Neighborhood

A neighborhood is a list of vertices on the surface of a body. Usually they are all within some threshold distance of a reference point on the body (usually a contact).

Definition at line 40 of file collisionStructures.h.