GetContactsFromLastStepFeature::ExtraContactDataT< PolicyT > Struct Template Reference
#include <GetContacts.hh>
Public Types | |
| using | Scalar = typename PolicyT::Scalar |
| using | VectorType = typename FromPolicy< PolicyT >::template Use< Vector > |
Public Attributes | |
| Scalar | depth |
| The penetration depth. More... | |
| VectorType | force |
| The contact force acting on the first body expressed in the world frame. More... | |
| VectorType | normal |
| The normal of the force acting on the first body expressed in the world frame. More... | |
Member Typedef Documentation
◆ Scalar
| using Scalar = typename PolicyT::Scalar |
◆ VectorType
| using VectorType = typename FromPolicy<PolicyT>::template Use<Vector> |
Member Data Documentation
◆ depth
| Scalar depth |
The penetration depth.
◆ force
| VectorType force |
The contact force acting on the first body expressed in the world frame.
◆ normal
| VectorType normal |
The normal of the force acting on the first body expressed in the world frame.
The documentation for this struct was generated from the following file: