contacts/Contact.hpp File Reference

A common interface for the most important data for a contact. More...

#include <rw/common/Serializable.hpp>
#include <rw/core/Ptr.hpp>
#include <rw/math/Transform3D.hpp>

Classes
class	Contact
	A common interface for the most important data for a contact. More...

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::kinematics
	Kinematic modelling.
	rw::models
	Workcell and device models.
	rwsim
	RobWorkSim is the dynamic simulation framework of RobWork.
	rwsim::contacts
	Contact Detection.

Functions
std::ostream &	operator<< (std::ostream &out, const Contact &contact)
	Stream operator. More...

Detailed Description

A common interface for the most important data for a contact.

A contact is given by the two points in contact, a normal, and a depth. Furthermore the contact is generated by a contact strategy, which will use two internal contact models for the geometries in contact. The relative transformation between these contact models is also used to define the contact.