momentumopt
ContactPlanFromFile.hpp
Go to the documentation of this file.
1 
9 #pragma once
10 
11 #include <momentumopt/cntopt/ContactPlanInterface.hpp>
12 
13 namespace momentumopt {
14 
19  class ContactPlanFromFile : public ContactPlanInterface
20  {
21  public:
22  ContactPlanFromFile(){}
23  ~ContactPlanFromFile(){}
24 
25  virtual void optimize(const DynamicsState& ini_state, const TerrainDescription& terrain);
26  };
27 }
momentumopt::TerrainDescription
This class is a container for a terrain description in terms of terrain surfaces. ...
Definition: TerrainDescription.hpp:66
momentumopt::ContactPlanFromFile
This class implements the ContactPlanInterface by reading a sequence of contacts from a configuration...
Definition: ContactPlanFromFile.hpp:19
momentumopt::DynamicsState
This class is a container for all variables required to define a dynamic state: center of mass positi...
Definition: DynamicsState.hpp:29
momentumopt::ContactPlanInterface
This class implements a simple interface to store a sequence of contacts, including its activation an...
Definition: ContactPlanInterface.hpp:36