Package org.robwork.sdurw_sensor

Class Contact3D

java.lang.Object

org.robwork.sdurw_sensor.Contact3D

public class Contact3D
extends java.lang.Object

data structure for describing a contact in 3D

Constructor Summary

Constructors

Constructor	Description
Contact3D()	constructor
Contact3D(long cPtr, boolean cMemoryOwn)
Contact3D(Vector3D tp, Vector3D tn, double normalf)	constructor
Contact3D(Vector3D tp, Vector3D tn, Vector3D tf)	constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
long	get_faceIdx()	index to the geometric primitive on which the contact is located
long	get_faceIdx2()
static long	getCPtr(Contact3D obj)
double	getCurvature()	surface curvature
Vector3D	getF()	the actual force
double	getMu()	coulomb friction coefficient
Vector3D	getN()	Surface contact normal
double	getNormalForce()	normal force
Vector3D	getP()	Contact position
void	set_faceIdx(long value)	index to the geometric primitive on which the contact is located
void	set_faceIdx2(long value)
void	setCurvature(double value)	surface curvature
void	setF(Vector3D value)	the actual force
void	setMu(double value)	coulomb friction coefficient
void	setN(Vector3D value)	Surface contact normal
void	setNormalForce(double value)	normal force
void	setP(Vector3D value)	Contact position

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Contact3D

public Contact3D(long cPtr,
                 boolean cMemoryOwn)

Contact3D

public Contact3D()

constructor

Contact3D

public Contact3D(Vector3D tp,
                 Vector3D tn,
                 double normalf)

constructor

Parameters:

tp - [in] point contact

tn - [in] contact normal

normalf - [in] normal force in the contact

Contact3D

public Contact3D(Vector3D tp,
                 Vector3D tn,
                 Vector3D tf)

constructor

Parameters:

tp - [in] point contact

tn - [in] contact normal

tf - [in] force in the contact

Method Detail

getCPtr

public static long getCPtr(Contact3D obj)

delete

public void delete()

setP

public void setP(Vector3D value)

Contact position

getP

public Vector3D getP()

Contact position

setN

public void setN(Vector3D value)

Surface contact normal

getN

public Vector3D getN()

Surface contact normal

setF

public void setF(Vector3D value)

the actual force

getF

public Vector3D getF()

the actual force

setNormalForce

public void setNormalForce(double value)

normal force

getNormalForce

public double getNormalForce()

normal force

set_faceIdx

public void set_faceIdx(long value)

index to the geometric primitive on which the contact is located

get_faceIdx

public long get_faceIdx()

index to the geometric primitive on which the contact is located

set_faceIdx2

public void set_faceIdx2(long value)

get_faceIdx2

public long get_faceIdx2()

setCurvature

public void setCurvature(double value)

surface curvature

getCurvature

public double getCurvature()

surface curvature

setMu

public void setMu(double value)

coulomb friction coefficient

getMu

public double getMu()

coulomb friction coefficient