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.
VectorType	force
	The contact force acting on the first body expressed in the world frame.
VectorType	normal
	The normal of the force acting on the first body expressed in the world frame.

Member Typedef Documentation

Scalar

template<typename PolicyT >

using Scalar = typename PolicyT::Scalar

VectorType

template<typename PolicyT >

using VectorType = typename FromPolicy<PolicyT>::template Use<Vector>

Member Data Documentation

depth

template<typename PolicyT >

Scalar depth

The penetration depth.

force

template<typename PolicyT >

VectorType force

The contact force acting on the first body expressed in the world frame.

normal

template<typename PolicyT >

VectorType normal

The normal of the force acting on the first body expressed in the world frame.

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

• GetContacts.hh