This class is a container for a sequence of contact states, for all end-effectors. More...

Public Member Functions
const int	numOptimizationContacts ()

const int	numEndeffectorContacts (int eff_id) const

void	loadFromFile (const std::string cfg_file, const std::string contact_plan_name="contact_plan")

std::vector< ContactState > &	endeffectorContacts (int eff_id)

const std::vector< ContactState > &	endeffectorContacts (int eff_id) const

void	endeffectorContacts (int eff_id, const std::vector< ContactState > &endeffector_contacts)

const long	endeffectorNum ()

std::string	toString () const

Private Attributes
int	num_optimization_contacts_

std::array< std::vector< ContactState >, Problem::n_endeffs_ >	endeffector_contacts_

Friends
std::ostream &	operator<< (std::ostream &os, const ContactSequence &obj)

Detailed Description

This class is a container for a sequence of contact states, for all end-effectors.

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

Public Member Functions