#include <contact-level.hpp>

Public Member Functions
	ContactLevel (contacts::ContactBase &contact)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW contacts::ContactBase &	contact

std::shared_ptr< math::ConstraintInequality >	forceConstraint

std::shared_ptr< math::ConstraintEquality >	forceRegTask

unsigned int	index

std::shared_ptr< math::ConstraintBase >	motionConstraint

Detailed Description

Data structure collecting information regarding a single contact. In particular, this structure contains the index of the force corresponding to this contact in the force vector used as decision variable in the QP. Moreover it contains all the default constraints associated to a contact for representing the motion constraints (contact points do not move), the friction cone constraints and the force regularization cost.

Definition at line 33 of file contact-level.hpp.

Constructor & Destructor Documentation

◆ ContactLevel()

tsid::ContactLevel::ContactLevel ( contacts::ContactBase & contact )

index of 1st element of associated force variable in the force vector

Definition at line 22 of file contact-level.cpp.

Member Data Documentation

◆ contact

EIGEN_MAKE_ALIGNED_OPERATOR_NEW contacts::ContactBase& tsid::ContactLevel::contact

Definition at line 36 of file contact-level.hpp.

◆ forceConstraint

std::shared_ptr<math::ConstraintInequality> tsid::ContactLevel::forceConstraint

Definition at line 38 of file contact-level.hpp.

◆ forceRegTask

std::shared_ptr<math::ConstraintEquality> tsid::ContactLevel::forceRegTask

Definition at line 39 of file contact-level.hpp.

◆ index

unsigned int tsid::ContactLevel::index

Definition at line 40 of file contact-level.hpp.

◆ motionConstraint

std::shared_ptr<math::ConstraintBase> tsid::ContactLevel::motionConstraint

Definition at line 37 of file contact-level.hpp.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes