CollisionData.h
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * National Institute of Advanced Industrial Science and Technology (AIST)
8  */
9 
10 #ifndef HRPCOLLISION_COLLISION_DATA_H_INCLUDED
11 #define HRPCOLLISION_COLLISION_DATA_H_INCLUDED
12 
13 #include <hrpUtil/Eigen3d.h>
14 #include "config.h"
15 
16 namespace hrp {
17 
18  // this is for the client
19 
21  {
22  public:
23  int id1;
24  int id2;
25 
28  int i_point_new[4];
29 
31  double depth;
32 
33  Vector3 n; // normal vector of triangle id1
34  Vector3 m; // normal vector of triangle id2
35  int c_type; // c_type=1 for vertex-face contact, c_type=2 for edge-edge contact
36  };
37 }
38 
39 
40 #endif
Eigen::Vector3d Vector3
Definition: EigenTypes.h:11


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:02