Information about a contact point. More...

#include <haptix_sim.h>

Data Fields
float	distance
	Normal distance (penetration depth) in link 1 frame (m). More...

char	link1 [100]
	Name of the first contacting link. More...

char	link2 [100]
	Name of the second contacting link. More...

hxsVector3	normal
	Description of contact frame relative to link 1 frame: normal direction (unit vector) of contact force on link 1. More...

hxsVector3	point
	Description of contact frame relative to link 1 frame: origin of contact on link 1. More...

hxsWrench	wrench
	Contact force/torque pair in link 1 frame at "point". More...

Detailed Description

Information about a contact point.

Field Documentation

float hxsContactPoint::distance

Normal distance (penetration depth) in link 1 frame (m).

char hxsContactPoint::link1[100]

Name of the first contacting link.

char hxsContactPoint::link2[100]

Name of the second contacting link.

hxsVector3 hxsContactPoint::normal

Description of contact frame relative to link 1 frame: normal direction (unit vector) of contact force on link 1.

hxsVector3 hxsContactPoint::point

Description of contact frame relative to link 1 frame: origin of contact on link 1.

hxsWrench hxsContactPoint::wrench

Contact force/torque pair in link 1 frame at "point".

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