Template Struct ContactDetailsTpl
Defined in File model.hxx
Struct Documentation
-
template<typename Scalar, int Options>
struct ContactDetailsTpl Public Types
-
typedef pinocchio::JointIndex JointIndex
Public Functions
-
inline ContactDetailsTpl(const ContactType type, const JointIndex joint1_id, const SE3 &joint1_placement, const JointIndex joint2_id, const SE3 &joint2_placement, const ReferenceFrame &reference_frame = LOCAL)
Public Members
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SE3Tpl< Scalar, Options > SE3
-
std::string name
-
Name of the contact.
-
ContactType type
-
Type of the contact.
-
JointIndex joint1_id
Index of the first joint in the model tree.
-
JointIndex joint2_id
Index of the second joint in the model tree.
-
SE3 joint1_placement
Relative placement with respect to the frame of joint1.
-
SE3 joint2_placement
Relative placement with respect to the frame of joint2.
-
ReferenceFrame reference_frame
Reference frame where the constraint is expressed (LOCAL_WORLD_ALIGNED or LOCAL)
-
typedef pinocchio::JointIndex JointIndex