ContactState.hpp File Reference

#include <array>
#include <vector>
#include <memory>
#include <iostream>
#include <Eigen/Eigen>
#include <momentumopt/setting/Definitions.hpp>

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Classes
class	momentumopt::ContactState
	This class is a container for all variables required to define a contact state: position and orientation of the contact, time of activation and de-activation of the contact, and a ContactType variable indicating whether, forces are subject to a friction cone (ContactType::FlatContact) or not (ContactType::FullContact) such as in the case of a hand grasping a bar. More...
class	momentumopt::ContactSequence
	This class is a container for a sequence of contact states, for all end-effectors. More...
class	momentumopt::ViapointState
	This class defines a viapoint state including position and orientation. More...
class	momentumopt::ViapointSequence
	This class is a container for a sequence of viapoint states for all end-effectors. More...

Namespaces
	momentumopt

Enumerations
enum	momentumopt::ContactType { FreeContact = 0, FlatContact = 1, FullContact = 2 }
	Definition of contact type: FlatContact: forces subject to friction cone constrains of flat surface FullContact: forces free in any direction (e.g. More...

Functions
ContactType	momentumopt::idToContactType (int cnt_type_id)

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