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. |