![]() |
RobWorkProject
25.2.11-
|
data structure for describing a contact in 3D More...
#include <Contact3D.hpp>
Public Member Functions | |
Contact3D () | |
constructor | |
Contact3D (rw::math::Vector3D<> tp, rw::math::Vector3D<> tn, double normalf) | |
constructor More... | |
Contact3D (rw::math::Vector3D<> tp, rw::math::Vector3D<> tn, rw::math::Vector3D<> tf) | |
constructor More... | |
Public Attributes | |
rw::math::Vector3D< double > | p |
Contact position. | |
rw::math::Vector3D< double > | n |
Surface contact normal. | |
rw::math::Vector3D< double > | f |
the actual force | |
double | normalForce |
normal force | |
unsigned int | _faceIdx |
index to the geometric primitive on which the contact is located | |
unsigned int | _faceIdx2 |
double | curvature |
surface curvature | |
double | mu |
coulomb friction coefficient | |
data structure for describing a contact in 3D
|
inline |
constructor
tp | [in] point contact |
tn | [in] contact normal |
normalf | [in] normal force in the contact |
|
inline |
constructor
tp | [in] point contact |
tn | [in] contact normal |
tf | [in] force in the contact |