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contact-level.hpp
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1//
2// Copyright (c) 2021 University of Trento
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __tsid_contact_level_hpp__
19#define __tsid_contact_level_hpp__
20
21#include "tsid/math/fwd.hpp"
23
24namespace tsid
25{
26
35 {
36 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37
39 std::shared_ptr<math::ConstraintBase> motionConstraint;
40 std::shared_ptr<math::ConstraintInequality> forceConstraint;
41 std::shared_ptr<math::ConstraintEquality> forceRegTask;
42 unsigned int index;
43
45 };
46
47}
48
49#endif // ifndef __tsid_contact_level_hpp__
Base template of a Contact.
Definition: contact-base.hpp:35
Definition: constraint-bound.hpp:27
Definition: contact-level.hpp:35
EIGEN_MAKE_ALIGNED_OPERATOR_NEW contacts::ContactBase & contact
Definition: contact-level.hpp:38
std::shared_ptr< math::ConstraintInequality > forceConstraint
Definition: contact-level.hpp:40
unsigned int index
Definition: contact-level.hpp:42
std::shared_ptr< math::ConstraintBase > motionConstraint
Definition: contact-level.hpp:39
std::shared_ptr< math::ConstraintEquality > forceRegTask
Definition: contact-level.hpp:41