libmove3d: /home/slemaign/softs-local/BioMove3D-git/graspPlanning/include/gpContact.h Source File

libmove3d 3.13.0

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00001 #ifndef GP_CONTACT_H
00002 #define GP_CONTACT_H
00003 
00004 
00005 #include "P3d-pkg.h"
00006 
00010 class gpContact
00011 {
00012  public:
00013   unsigned int ID; 
00014   p3d_polyhedre *surface; 
00015   unsigned int face;    
00016   unsigned int fingerID;  
00017   p3d_vector3 position; 
00018   p3d_vector3 normal; 
00019   p3d_vector3 forceDirection;  
00020   double mu;         
00021   p3d_vector3 baryCoords; 
00022   double curvature; 
00023   double score; 
00025   gpContact();
00026   ~gpContact();
00027   gpContact(const gpContact &contact);
00028   gpContact & operator=(const gpContact &contact);
00029   int draw(double cone_length, int cone_nb_slices= 10);
00030   int computeBarycentricCoordinates();
00031   int computeCurvature();
00032   double distanceToSharpEdge(double angleThreshold);
00033 };
00034 
00035 #endif
00036