PenetrationAsPointPair< T > Struct Template Reference

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_WCb - p_WCa) ⋅ nhat_BA_W`

(depth is strictly positive when there is penetration and otherwise not defined.)

Template Parameters

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

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

Public Member Functions
void	SwapAAndB ()
	Swaps the interpretation of geometries A and B.

Public Attributes
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 >	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.
Vector3< T >	nhat_BA_W
	The unit-length normal which defines the penetration direction, pointing from geometry B into geometry A, measured and expressed in the world frame.
T	depth {-1.0}
	The penetration depth.

Member Function Documentation

SwapAAndB()

template<typename T>

void SwapAAndB

(

)

Swaps the interpretation of geometries A and B.

Member Data Documentation

depth

template<typename T>

T depth {-1.0}

The penetration depth.

id_A

template<typename T>

GeometryId id_A

The id of the first geometry in the contact.

id_B

template<typename T>

GeometryId id_B

The id of the second geometry in the contact.

nhat_BA_W

template<typename T>

Vector3<T> nhat_BA_W

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

It approximates the normal to the plane on which the contact patch lies.

p_WCa

template<typename T>

Vector3<T> p_WCa

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

p_WCb

template<typename T>

Vector3<T> p_WCb

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

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

• drake/geometry/query_results/penetration_as_point_pair.h