Contact Class Reference

A contact between two collisions. More...

#include <physics/physics.hh>

Public Member Functions
	Contact ()
	Constructor. More...
	Contact (const Contact &_contact)
	Copy constructor. More...
virtual	~Contact ()
	Destructor. More...
std::string	DebugString () const
	Produce a debug string. More...
void	FillMsg (msgs::Contact &_msg) const
	Populate a msgs::Contact with data from this. More...
Contact &	operator= (const Contact &_contact)
	Operator =. More...
Contact &	operator= (const msgs::Contact &_contact)
	Operator =. More...
void	Reset ()
	Reset to default values. More...

Public Attributes
Collision *	collision1
	Pointer to the first collision object. More...
Collision *	collision2
	Pointer to the second collision object. More...
int	count
	Length of all the arrays. More...
double	depths [250]
	Array of contact depths. More...
math::Vector3	normals [250]
	Array of force normals. More...
math::Vector3	positions [250]
	Array of force positions. More...
common::Time	time
	Time at which the contact occurred. More...
WorldPtr	world
	World in which the contact occurred. More...
JointWrench	wrench [250]
	Array of forces for the contact. More...

Detailed Description

A contact between two collisions.

Each contact can consist of a number of contact points

Constructor & Destructor Documentation

Contact() [1/2]

Contact

(

)

Constructor.

Contact() [2/2]

Contact

(

const Contact &

_contact

)

Copy constructor.

Parameters

[in]

_contact

Contact to copy.

~Contact()

virtual ~Contact ( )

virtual

Destructor.

Member Function Documentation

DebugString()

std::string DebugString

(

)

const

Produce a debug string.

Returns

A string that contains the values of the contact.

FillMsg()

void FillMsg

(

msgs::Contact &

_msg

)

const

Populate a msgs::Contact with data from this.

Parameters

[out]

_msg

Contact message the will hold the data.

operator=() [1/2]

Contact& operator=

(

const Contact &

_contact

)

Operator =.

Parameters

[in]

_contact

Contact to copy.

Returns

Reference to this contact

operator=() [2/2]

Contact& operator=

(

const msgs::Contact &

_contact

)

Operator =.

Parameters

[in]

_contact

msgs::Contact to copy.

Returns

Reference to this contact

Reset()

void Reset

(

)

Reset to default values.

Member Data Documentation

collision1

Collision* collision1

Pointer to the first collision object.

collision2

Collision* collision2

Pointer to the second collision object.

count

int count

Length of all the arrays.

depths

double depths[250]

Array of contact depths.

normals

math::Vector3 normals[250]

Array of force normals.

positions

math::Vector3 positions[250]

Array of force positions.

time

common::Time time

Time at which the contact occurred.

world

WorldPtr world

World in which the contact occurred.

wrench

JointWrench wrench[250]

Array of forces for the contact.

All forces and torques are in the world frame. All forces and torques are relative to the center of mass of the respective links that the collision elments are attached to.

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The documentation for this class was generated from the following file:

• Contact.hh