ContactPlanInterface.hpp File Reference

#include <array>
#include <vector>
#include <string>
#include <iostream>
#include <Eigen/Eigen>
#include <momentumopt/cntopt/ContactState.hpp>
#include <momentumopt/dynopt/DynamicsState.hpp>
#include <momentumopt/setting/PlannerSetting.hpp>
#include <momentumopt/cntopt/TerrainDescription.hpp>
#include <momentumopt/utilities/TrajectoryGenerator.hpp>

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Classes
class	momentumopt::ContactPlanInterface
	This class implements a simple interface to store a sequence of contacts, including its activation and de-activation time, position and orientation of the contact, and a variable (set to 1) indicating if the forces at this contact are subject to friction cone constraints or (set to 2) if not, such as in the case of hands grasping bars. More...

Namespaces
	momentumopt

Detailed Description

Author

Brahayam Ponton (braha.nosp@m.yam..nosp@m.ponto.nosp@m.n@tu.nosp@m.ebing.nosp@m.en.m.nosp@m.pg.de)

License:

License BSD-3-Clause

Copyright

Copyright (c) 2019, New York University and Max Planck Gesellschaft.

Date

2019-10-08