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Representation for Contact #3

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swrede opened this issue Jun 16, 2016 · 1 comment

Member

swrede commented Jun 16, 2016

Position
Orientation
Ref. Frames
Wrench

Collaborator

ndehio commented Jan 9, 2017 •

edited

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The gazebo interface defines contacts by

string collision1 -> name of the first collision object.
string collision2 -> name of the second collision object.
Vector3d position -> position of the contact joint in inertial frame.
Vector3d normal ->normal of the contact joint in inertial frame.
double depth -> intersection (penetration) depth of two collision bodies.
JointWrench wrench -> Forces and torques acting on both collision bodies.
Time time -> time at which this contact happened.

See ContactSensor.hh

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