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

Collaboration diagram for tsid::ContactLevel:

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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

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

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

Public Member Functions

Public Attributes