contact-level.hpp
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//
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// Copyright (c) 2021 University of Trento
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//
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// This file is part of tsid
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// tsid is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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// tsid is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// tsid If not, see
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// <http://www.gnu.org/licenses/>.
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//
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#ifndef __tsid_contact_level_hpp__
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#define __tsid_contact_level_hpp__
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#include "
tsid/math/fwd.hpp
"
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#include "
tsid/contacts/contact-base.hpp
"
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namespace
tsid
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{
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struct
ContactLevel
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{
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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contacts::ContactBase
&
contact
;
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std::shared_ptr<math::ConstraintBase>
motionConstraint
;
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std::shared_ptr<math::ConstraintInequality>
forceConstraint
;
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std::shared_ptr<math::ConstraintEquality>
forceRegTask
;
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unsigned
int
index
;
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ContactLevel
(
contacts::ContactBase
&
contact
);
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};
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}
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#endif // ifndef __tsid_contact_level_hpp__
tsid::contacts::ContactBase
Base template of a Contact.
Definition:
contact-base.hpp:34
tsid::ContactLevel::forceConstraint
std::shared_ptr< math::ConstraintInequality > forceConstraint
Definition:
contact-level.hpp:40
tsid::ContactLevel
Definition:
contact-level.hpp:34
tsid::ContactLevel::ContactLevel
ContactLevel(contacts::ContactBase &contact)
index of 1st element of associated force variable in the force vector
Definition:
contact-level.cpp:24
fwd.hpp
tsid
Definition:
constraint-bound.hpp:26
tsid::ContactLevel::index
unsigned int index
Definition:
contact-level.hpp:42
tsid::ContactLevel::contact
EIGEN_MAKE_ALIGNED_OPERATOR_NEW contacts::ContactBase & contact
Definition:
contact-level.hpp:38
tsid::ContactLevel::forceRegTask
std::shared_ptr< math::ConstraintEquality > forceRegTask
Definition:
contact-level.hpp:41
tsid::ContactLevel::motionConstraint
std::shared_ptr< math::ConstraintBase > motionConstraint
Definition:
contact-level.hpp:39
contact-base.hpp
include
tsid
formulations
contact-level.hpp
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