Drake
PenetrationAsPointPair< T > Struct Template Reference

A characterization of the intersection of two penetrating geometries. More...

#include <drake/geometry/query_results/penetration_as_point_pair.h>

Collaboration diagram for PenetrationAsPointPair< T >:
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## Public Attributes

GeometryId id_A
The id of the first geometry in the contact. More...

GeometryId id_B
The id of the second geometry in the contact. More...

Vector3< T > p_WCa
The point on A that most deeply penetrates B, measured and expressed in the world frame. More...

Vector3< T > p_WCb
The point on B that most deeply penetrates A, measured and expressed in the world frame. More...

Vector3< T > nhat_AB_W
The unit-length normal which defines the penetration direction, pointing from geometry A to geometry B, measured and expressed in the world frame. More...

depth {-1.0}
The penetration depth. More...

## Detailed Description

### template<typename T> struct drake::geometry::PenetrationAsPointPair< T >

A characterization of the intersection of two penetrating geometries.

The characterization consists of a pair of points and a normal. The points represent a point on each geometry that most deeply penetrates the other geometry (in the normal direction). For convenience, the penetration depth is provided and is equal to:

depth = ‖ (p_WCa - p_WCb) ⋅ nhat_AB_W ‖₂.

Template Parameters
 T The underlying scalar type. Must be a valid Eigen scalar.

## Member Data Documentation

 T depth {-1.0}

The penetration depth.

 GeometryId id_A

The id of the first geometry in the contact.

 GeometryId id_B

The id of the second geometry in the contact.

 Vector3 nhat_AB_W

The unit-length normal which defines the penetration direction, pointing from geometry A to geometry B, measured and expressed in the world frame.

 Vector3 p_WCa

The point on A that most deeply penetrates B, measured and expressed in the world frame.

 Vector3 p_WCb

The point on B that most deeply penetrates A, measured and expressed in the world frame.

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