struct
ContactBaseDefinition of the type of contact base class.
Derived classes
- struct ContactWrench
- Definition of an ContactWrench structure.
- struct DiscreteGeometryContact
- DiscreteGeometryContact is a contact which is represented by a set of corners that exchanges a pure force whith the enviroment.
- struct EstimatedContact
- Definition of an Estimated Contact structure.
- struct PlannedContact
- Definition of a Planned Contact structure.
Public variables
- manif::SE3d pose
- Pose of the contact.
- std::string name
- Name of the contact.
- int index
- Frame index of the contact.
- ContactType type
- Type of contact.