[In tutorial](http://gazebosim.org/tutorials?cat=sensors&tut=contact_sensor&ver=1.9-4.0), there is a set of code shown below:
void ContactPlugin::OnUpdate()
{
// Get all the contacts.
msgs::Contacts contacts;
contacts = this->parentSensor->GetContacts();
for (unsigned int i = 0; i < contacts.contact_size(); ++i)
{
std::cout << "Collision between[" << contacts.contact(i).collision1()<< "] and [" << contacts.contact(i).collision2() << "]\n";
for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j)
{
std::cout << j << " Position:"<< contacts.contact(i).position(j).x() << " "<< contacts.contact(i).position(j).y() << " "<< contacts.contact(i).position(j).z() << "\n";
std::cout << " Normal:"<< contacts.contact(i).normal(j).x() << " "<< contacts.contact(i).normal(j).y() << " "<< contacts.contact(i).normal(j).z() << "\n";
std::cout << " Depth:" << contacts.contact(i).depth(j) << "\n";
}
}
}
I wonder where I can find the **API information about usage and definition of contact_size() function.**
I am not familiar with C++, is it because related to C++ library?
Any hint or guide would be appreciated.
↧