hpp::constraints::ConvexShapeContact::ForceData Struct Reference

#include <hpp/constraints/convex-shape-contact.hh>

Public Attributes
JointPtr_t	joint
JointPtr_t	supportJoint
std::vector< vector3_t >	points
vector3_t	normal

Detailed Description

Represents a contact When supportJoint is NULL, the contact is with the environment. Otherwise, the contact is between two joints.

Member Data Documentation

joint

JointPtr_t hpp::constraints::ConvexShapeContact::ForceData::joint

normal

vector3_t hpp::constraints::ConvexShapeContact::ForceData::normal

points

std::vector<vector3_t> hpp::constraints::ConvexShapeContact::ForceData::points

supportJoint

JointPtr_t hpp::constraints::ConvexShapeContact::ForceData::supportJoint

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

• include/hpp/constraints/convex-shape-contact.hh