tsid::ContactLevel Struct Reference

#include <tsid/formulations/contact-level.hpp>

Collaboration diagram for tsid::ContactLevel:

Public Member Functions
	ContactLevel (contacts::ContactBase &contact)

Public Attributes
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

Detailed Description

Data structure collecting information regarding a single contact. In particular, this structure contains the index of the force corresponding to this contact in the force vector used as decision variable in the QP. Moreover it contains all the default constraints associated to a contact for representing the motion constraints (contact points do not move), the friction cone constraints and the force regularization cost.

Constructor & Destructor Documentation

ContactLevel()

tsid::ContactLevel::ContactLevel

(

contacts::ContactBase &

contact

)

index of 1st element of associated force variable in the force vector

Member Data Documentation

contact

EIGEN_MAKE_ALIGNED_OPERATOR_NEW contacts::ContactBase& tsid::ContactLevel::contact

forceConstraint

std::shared_ptr<math::ConstraintInequality> tsid::ContactLevel::forceConstraint

forceRegTask

std::shared_ptr<math::ConstraintEquality> tsid::ContactLevel::forceRegTask

index

unsigned int tsid::ContactLevel::index

motionConstraint

std::shared_ptr<math::ConstraintBase> tsid::ContactLevel::motionConstraint

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The documentation for this struct was generated from the following files:

• include/tsid/formulations/contact-level.hpp
• src/formulations/contact-level.cpp