Drake

A characterization of the intersection of two penetrating geometries. More...
#include <drake/geometry/query_results/penetration_as_point_pair.h>
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 unitlength normal which defines the penetration direction, pointing from geometry A to geometry B, measured and expressed in the world frame. More...  
T  depth {1.0} 
The penetration depth. More...  
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.
T  The underlying scalar type. Must be a valid Eigen scalar. 
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<T> nhat_AB_W 
The unitlength normal which defines the penetration direction, pointing from geometry A to geometry B, measured and expressed in the world frame.
Vector3<T> p_WCa 
The point on A that most deeply penetrates B, measured and expressed in the world frame.
Vector3<T> p_WCb 
The point on B that most deeply penetrates A, measured and expressed in the world frame.