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The MoveIt Motion Planning Framework for ROS 2.
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collision_detection::Contact Struct Reference

Definition of a contact point. More...

#include <collision_common.h>

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Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d pos
 contact position More...
 
Eigen::Vector3d normal
 normal unit vector at contact More...
 
double depth = 0.0
 depth (penetration between bodies) More...
 
std::string body_name_1
 The id of the first body involved in the contact. More...
 
BodyType body_type_1
 The type of the first body involved in the contact. More...
 
std::string body_name_2
 The id of the second body involved in the contact. More...
 
BodyType body_type_2
 The type of the second body involved in the contact. More...
 
double percent_interpolation = 0.0
 The distance percentage between casted poses until collision. More...
 
Eigen::Vector3d nearest_points [2]
 The two nearest points connecting the two bodies. More...
 

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: