bezier_com_traj::ContactData Struct Reference

Contact data contains all the contact information relative to a contact phase: contact points and normals (within Equilibrium object), as well as any additional kinematic and angular constraints. More...

#include <hpp/bezier-com-traj/data.hh>

Public Member Functions
	ContactData ()
	ContactData (const ContactData &other)
	ContactData (centroidal_dynamics::Equilibrium *contactPhase)
	~ContactData ()

Public Attributes
centroidal_dynamics::Equilibrium *	contactPhase_
MatrixX3	Kin_
VectorX	kin_
MatrixX3	Ang_
VectorX	ang_

Detailed Description

Contact data contains all the contact information relative to a contact phase: contact points and normals (within Equilibrium object), as well as any additional kinematic and angular constraints.

Constructor & Destructor Documentation

ContactData() [1/3]

bezier_com_traj::ContactData::ContactData ( )

inline

ContactData() [2/3]

bezier_com_traj::ContactData::ContactData ( const ContactData &  other )

inline

ContactData() [3/3]

bezier_com_traj::ContactData::ContactData ( centroidal_dynamics::Equilibrium *  contactPhase )

inline

~ContactData()

bezier_com_traj::ContactData::~ContactData ( )

inline

Member Data Documentation

Ang_

MatrixX3 bezier_com_traj::ContactData::Ang_

ang_

VectorX bezier_com_traj::ContactData::ang_

contactPhase_

centroidal_dynamics::Equilibrium* bezier_com_traj::ContactData::contactPhase_

Kin_

MatrixX3 bezier_com_traj::ContactData::Kin_

kin_

VectorX bezier_com_traj::ContactData::kin_

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

• include/hpp/bezier-com-traj/data.hh