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

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: collisionStructures.h,v 1.3 2009/03/30 14:59:47 cmatei Exp $
//
//######################################################################
#ifndef _collisionstructures_h_
#define _collisionstructures_h_

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

class Body;
class transf;
class position;
class vec3;

typedef std::vector<position> Neighborhood;

typedef struct ContactDataS
{
  position b1_pos,b2_pos;
  vec3 b1_normal, b2_normal;
  Neighborhood nghbd1, nghbd2;
  double distSq;
  ContactDataS(position b1p, position b2p, vec3 b1n, vec3 b2n, double dsq=-1.0) : b1_pos(b1p), b2_pos(b2p),
          b1_normal(b1n), b2_normal(b2n), distSq(dsq) {}
  ContactDataS() : b1_pos(0,0,0), b2_pos(0,0,0),
          b1_normal(0,0,0), b2_normal(0,0,0), distSq(0) {}
} ContactData;

typedef std::vector<ContactData> ContactReport;

typedef struct CollisionDataS
{
        Body *first;
        Body *second;
        ContactReport contacts;
        CollisionDataS(Body *b1, Body *b2) : first(b1), second(b2) {}
} CollisionData;

typedef std::vector<CollisionData> CollisionReport;

#endif

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autogenerated on Wed Jan 25 10:58:52 2012