ContactGenHelper(RbPrmFullBodyPtr_t fb, const State &ps, pinocchio::ConfigurationIn_t configuration, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const double robustnessTreshold=0, const std::size_t maxContactBreaks=1, const std::size_t maxContactCreations=1, const bool checkStabilityMaintain=false, const bool checkStabilityGenerate=true, const fcl::Vec3f &direction=fcl::Vec3f(0, 0, 1), const fcl::Vec3f &acceleration=fcl::Vec3f(0, 0, 0), const bool contactIfFails=false, const bool stableForOneContact=false, const core::PathConstPtr_t &comPath=core::PathConstPtr_t(), const double currentPathId=0) | hpp::rbprm::contact::ContactGenHelper | |