cnoid::Link::ContactPoint Class Reference

All the members are described in the global coordinate system. More...

#include <Link.h>

Public Member Functions
	ContactPoint (const Vector3 &position, const Vector3 &normal, const Vector3 &force, const Vector3 &velocity, double depth)
const Vector3 &	position () const
const Vector3 &	normal () const
	The contact normal vector. The direction is from another object to this link. More...
const Vector3 &	force () const
	The contact force vector. The direction is from another object to this link. More...
const Vector3 &	velocity () const
	The relative velocity of the contact point on this link based on the other link. More...
double	depth ()

Detailed Description

All the members are described in the global coordinate system.

Constructor & Destructor Documentation

ContactPoint()

cnoid::Link::ContactPoint::ContactPoint ( const Vector3 &  position, const Vector3 &  normal, const Vector3 &  force, const Vector3 &  velocity, double  depth  )

inline

Member Function Documentation

depth()

double cnoid::Link::ContactPoint::depth ( )

inline

force()

const Vector3& cnoid::Link::ContactPoint::force ( ) const

inline

The contact force vector. The direction is from another object to this link.

normal()

const Vector3& cnoid::Link::ContactPoint::normal ( ) const

inline

The contact normal vector. The direction is from another object to this link.

position()

const Vector3& cnoid::Link::ContactPoint::position ( ) const

inline

velocity()

const Vector3& cnoid::Link::ContactPoint::velocity ( ) const

inline

The relative velocity of the contact point on this link based on the other link.

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

• Link.h