contact-level.hpp

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//
// Copyright (c) 2021 University of Trento
//

#ifndef __tsid_contact_level_hpp__
#define __tsid_contact_level_hpp__

#include "tsid/math/fwd.hpp"
#include "tsid/contacts/contact-base.hpp"

namespace tsid {

struct ContactLevel {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 contacts::ContactBase& contact;
 std::shared_ptr<math::ConstraintBase> motionConstraint;
 std::shared_ptr<math::ConstraintInequality> forceConstraint;
 std::shared_ptr<math::ConstraintEquality> forceRegTask;
 unsigned int index;

 ContactLevel(contacts::ContactBase& contact);
};

} // namespace tsid

#endif // ifndef __tsid_contact_level_hpp__