concepts.dm.crowhat.world.planning_world_interface.GeometricContactInfo#

class GeometricContactInfo[source]#

Bases: NamedTuple

GeometricContactInfo(body_a, body_b, link_a, link_b, position_on_a, position_on_b, contact_normal_on_a, contact_normal_on_b, contact_distance)

Methods

`count`(value, /)	Return number of occurrences of value.
`index`(value[, start, stop])	Return first index of value.

Attributes

`body_a`	Alias for field number 0
`body_b`	Alias for field number 1
`contact_distance`	Alias for field number 8
`contact_normal_on_a`	Alias for field number 6
`contact_normal_on_b`	Alias for field number 7
`link_a`	Alias for field number 2
`link_b`	Alias for field number 3
`position_on_a`	Alias for field number 4
`position_on_b`	Alias for field number 5

__add__(value, /)#: Return self+value.

__getitem__(key, /)#: Return self[key].

__init__()#

__iter__()#: Implement iter(self).

__len__()#: Return len(self).

__mul__(value, /)#: Return self*value.

static __new__(_cls, body_a, body_b, link_a, link_b, position_on_a, position_on_b, contact_normal_on_a, contact_normal_on_b, contact_distance=0)#

Create new instance of GeometricContactInfo(body_a, body_b, link_a, link_b, position_on_a, position_on_b, contact_normal_on_a, contact_normal_on_b, contact_distance)

Parameters:

body_a (int)
body_b (int)
link_a (int)
link_b (int)
position_on_a (Tuple[float, float, float] | List[float] | ndarray)
position_on_b (Tuple[float, float, float] | List[float] | ndarray)
contact_normal_on_a (Tuple[float, float, float] | List[float] | ndarray)
contact_normal_on_b (Tuple[float, float, float] | List[float] | ndarray)
contact_distance (float)

count(value, /)#: Return number of occurrences of value.

index(value, start=0, stop=9223372036854775807, /)#

Return first index of value.

Raises ValueError if the value is not present.

body_a: int#: Alias for field number 0

body_b: int#: Alias for field number 1

contact_distance: float#: Alias for field number 8

contact_normal_on_a: Tuple[float, float, float] | List[float] | ndarray#: Alias for field number 6

contact_normal_on_b: Tuple[float, float, float] | List[float] | ndarray#: Alias for field number 7

link_a: int#: Alias for field number 2

link_b: int#: Alias for field number 3

position_on_a: Tuple[float, float, float] | List[float] | ndarray#: Alias for field number 4

position_on_b: Tuple[float, float, float] | List[float] | ndarray#: Alias for field number 5