Definition of a contact point. More...
#include <collision_common.h>
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d | pos |
| contact position | |
| Eigen::Vector3d | normal |
| normal unit vector at contact | |
| double | depth = 0.0 |
| depth (penetration between bodies) | |
| std::string | body_name_1 |
| The id of the first body involved in the contact. | |
| BodyType | body_type_1 |
| The type of the first body involved in the contact. | |
| std::string | body_name_2 |
| The id of the second body involved in the contact. | |
| BodyType | body_type_2 |
| The type of the second body involved in the contact. | |
| double | percent_interpolation = 0.0 |
| The distance percentage between casted poses until collision. | |
| Eigen::Vector3d | nearest_points [2] |
| The two nearest points connecting the two bodies. | |
Detailed Description
Definition of a contact point.
Definition at line 73 of file collision_common.h.
Member Data Documentation
◆ body_name_1
| std::string collision_detection::Contact::body_name_1 |
The id of the first body involved in the contact.
Definition at line 87 of file collision_common.h.
◆ body_name_2
| std::string collision_detection::Contact::body_name_2 |
The id of the second body involved in the contact.
Definition at line 93 of file collision_common.h.
◆ body_type_1
| BodyType collision_detection::Contact::body_type_1 |
The type of the first body involved in the contact.
Definition at line 90 of file collision_common.h.
◆ body_type_2
| BodyType collision_detection::Contact::body_type_2 |
The type of the second body involved in the contact.
Definition at line 96 of file collision_common.h.
◆ depth
| double collision_detection::Contact::depth = 0.0 |
depth (penetration between bodies)
Definition at line 84 of file collision_common.h.
◆ nearest_points
| Eigen::Vector3d collision_detection::Contact::nearest_points[2] |
The two nearest points connecting the two bodies.
Definition at line 105 of file collision_common.h.
◆ normal
| Eigen::Vector3d collision_detection::Contact::normal |
normal unit vector at contact
Definition at line 81 of file collision_common.h.
◆ percent_interpolation
| double collision_detection::Contact::percent_interpolation = 0.0 |
The distance percentage between casted poses until collision.
If the value is 0, then the collision occurred in the start pose. If the value is 1, then the collision occurred in the end pose.
Definition at line 102 of file collision_common.h.
◆ pos
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d collision_detection::Contact::pos |
contact position
Definition at line 78 of file collision_common.h.
The documentation for this struct was generated from the following file:
- moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
