contact-level.hpp

Go to the documentation of this file.

//
// Copyright (c) 2021 University of Trento
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
 
#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__