Template Struct ContactDetailsTpl

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)