gazebo::physics::Contact Class Reference

A contact between two collisions. More...

#include <physics/physics.hh>

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

Public Attributes
std::string	collision1
	Name of the first collision object.
std::string	collision2
	Name of the second collision object.
int	count
	Length of all the arrays.
double	depths [32]
	Array of contact depths.
math::Vector3	normals [32]
	Array of force normals.
math::Vector3	positions [32]
	Array of force positions.
common::Time	time
	Time at which the contact occured.
JointWrench	wrench [32]
	Array of forces for the contact.

Detailed Description

A contact between two collisions.

Each contact can consist of a number of contact points

Constructor & Destructor Documentation

gazebo::physics::Contact::Contact

(

)

Constructor.

gazebo::physics::Contact::Contact

(

const Contact &

_contact

)

Copy constructor.

Parameters

[in]

_contact

Contact to copy.

virtual gazebo::physics::Contact::~Contact ( )

virtual

Destructor.

Member Function Documentation

std::string gazebo::physics::Contact::DebugString

(

)

const

Produce a debug string.

Returns

A string that contains the values of the contact.

void gazebo::physics::Contact::FillMsg

(

msgs::Contact &

_msg

)

const

Populate a msgs::Contact with data from this.

Parameters

[out]

_msg

Contact message the will hold the data.

Contact& gazebo::physics::Contact::operator=

(

const Contact &

_contact

)

Operator =.

Parameters

[in]

_contact

Contact to copy.

Returns

Reference to this contact

Contact& gazebo::physics::Contact::operator=

(

const msgs::Contact &

_contact

)

Operator =.

Parameters

[in]

_contact

msgs::Contact to copy.

Returns

Reference to this contact

void gazebo::physics::Contact::Reset

(

)

Reset to default values.

Member Data Documentation

std::string gazebo::physics::Contact::collision1

Name of the first collision object.

std::string gazebo::physics::Contact::collision2

Name of the second collision object.

int gazebo::physics::Contact::count

Length of all the arrays.

double gazebo::physics::Contact::depths[32]

Array of contact depths.

math::Vector3 gazebo::physics::Contact::normals[32]

Array of force normals.

math::Vector3 gazebo::physics::Contact::positions[32]

Array of force positions.

common::Time gazebo::physics::Contact::time

Time at which the contact occured.

JointWrench gazebo::physics::Contact::wrench[32]

Array of forces for the contact.

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