hpp-constraints: hpp::constraints::ConvexShapeContact::ForceData Struct Reference

hpp-constraints 9.0.2 Definition of basic geometric constraints for motion planning

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Public Attributes | List of all members
hpp::constraints::ConvexShapeContact::ForceData Struct Reference

`#include <hpp/constraints/convex-shape-contact.hh>`

## Public Attributes
JointPtr_t | joint
JointPtr_t | supportJoint
std::vector< vector3_t > | points
vector3_t | normal

## Detailed Description

Represents a contact When supportJoint is NULL, the contact is with the environment. Otherwise, the contact is between two joints.

## Member Data Documentation

## ◆ joint

JointPtr_t hpp::constraints::ConvexShapeContact::ForceData::joint

## ◆ normal

vector3_t hpp::constraints::ConvexShapeContact::ForceData::normal

## ◆ points

std::vector<vector3_t> hpp::constraints::ConvexShapeContact::ForceData::points

## ◆ supportJoint

JointPtr_t hpp::constraints::ConvexShapeContact::ForceData::supportJoint

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

- include/hpp/constraints/convex-shape-contact.hh