contact-level.hpp

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//
// Copyright (c) 2021 University of Trento
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __tsid_contact_level_hpp__
#define __tsid_contact_level_hpp__

#include "tsid/math/fwd.hpp"
#include "tsid/contacts/contact-base.hpp"

namespace tsid {

struct ContactLevel {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  contacts::ContactBase& contact;
  std::shared_ptr<math::ConstraintBase> motionConstraint;
  std::shared_ptr<math::ConstraintInequality> forceConstraint;
  std::shared_ptr<math::ConstraintEquality> forceRegTask;
  unsigned int index;  

  ContactLevel(contacts::ContactBase& contact);
};

}  // namespace tsid

#endif  // ifndef __tsid_contact_level_hpp__