wbc::types::Contact Class Reference

Describes a rigid contact between a robot link and the environment. This can be either a point or surface contact. More...

#include <Contact.hpp>

Public Member Functions
	Contact ()
	Contact (std::string frame_id, int active, double mu)
	Contact (std::string frame_id, int active, double mu, double wx, double wy)

Public Attributes
std::string	frame_id
int	active
double	mu
double	wx
double	wy

Detailed Description

Describes a rigid contact between a robot link and the environment. This can be either a point or surface contact.

Constructor & Destructor Documentation

Contact() [1/3]

wbc::types::Contact::Contact ( )

inline

Contact() [2/3]

wbc::types::Contact::Contact ( std::string frame_id, int active, double mu )

inline

Contact() [3/3]

wbc::types::Contact::Contact ( std::string frame_id, int active, double mu, double wx, double wy )

inline

Member Data Documentation

active

int wbc::types::Contact::active

ID of the link in contact

frame_id

std::string wbc::types::Contact::frame_id

mu

double wbc::types::Contact::mu

Is the link with ID frame_id currently in contact?

wx

double wbc::types::Contact::wx

Friction coeffcient

wy

double wbc::types::Contact::wy

x-dimension of the contact surface (only for surface contacts)

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

• src/types/Contact.hpp