BipedalLocomotion::Contacts::ContactBase struct

#include <BipedalLocomotion/Contacts/Contact.h>

Definition 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.