BipedalLocomotion/Contacts/Contact.h file

Namespaces

namespace BipedalLocomotion
namespace BipedalLocomotion::Contacts

Classes

struct BipedalLocomotion::Contacts::ContactBase
Definition of the type of contact base class.
struct BipedalLocomotion::Contacts::PlannedContact
Definition of a Planned Contact structure.
struct BipedalLocomotion::Contacts::EstimatedContact
Definition of an Estimated Contact structure.
struct BipedalLocomotion::Contacts::ContactWrench
Definition of an ContactWrench structure.
struct BipedalLocomotion::Contacts::Corner
Definition of a corner.
struct BipedalLocomotion::Contacts::DiscreteGeometryContact
DiscreteGeometryContact is a contact which is represented by a set of corners that exchanges a pure force whith the enviroment.

Enums

enum class ContactType { FULL, POINT }
Definition of the type of contact.

Typedefs

using EstimatedLandmark = EstimatedContact

Enum documentation

enum class ContactType

Definition of the type of contact.

Enumerators
FULL

The contact impose a full pose constraint.

POINT

The contact impose a position constraint.