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18 #ifndef __invdyn_contact_point_hpp__
19 #define __invdyn_contact_point_hpp__
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 const std::string & frameName,
50 const double frictionCoefficient,
51 const double minNormalForce,
52 const double maxNormalForce);
55 virtual unsigned int n_motion()
const;
58 virtual unsigned int n_force()
const;
138 #endif // ifndef __invdyn_contact_6d_hpp__
Definition: constraint-equality.hpp:28
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::Matrix< Scalar, 6, 1 > Vector6
Definition: fwd.hpp:43
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
Definition: constraint-inequality.hpp:28
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:26
Wrapper for a robot based on pinocchio.
Definition: robot-wrapper.hpp:40
Eigen::Matrix< Scalar, 3, Eigen::Dynamic > Matrix3x
Definition: fwd.hpp:44
const typedef Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
Definition: task-se3-equality.hpp:33
Eigen::Matrix< Scalar, 3, 1 > Vector3
Definition: fwd.hpp:42