#include <Tasks/QPContactConstr.h>

Collaboration diagram for tasks::qp::ContactConstr::ContactData:

Public Member Functions
	ContactData (std::vector< ContactSideData > csds, const Eigen::MatrixXd &d, int r1, int r2, int b1, int b2, const sva::PTransformd &X_bb, const sva::PTransformd &X_bcf, const ContactId &cId)

void	update (const std::vector< rbd::MultiBodyConfig > &mbcs)

Public Attributes
std::vector< ContactSideData >	contacts

Eigen::MatrixXd	dof

Eigen::MatrixXd	revDof

int	r1Index

int	r2Index

int	b1Index

int	b2Index

sva::PTransformd	X_b1_b2

sva::PTransformd	X_b1_cf

ContactId	contactId

Constructor & Destructor Documentation

◆ ContactData()

tasks::qp::ContactConstr::ContactData::ContactData	(	std::vector< ContactSideData >	csds,
		const Eigen::MatrixXd &	d,
		int	r1,
		int	r2,
		int	b1,
		int	b2,
		const sva::PTransformd &	X_bb,
		const sva::PTransformd &	X_bcf,
		const ContactId &	cId
	)

inline

Member Function Documentation

◆ update()

void tasks::qp::ContactConstr::ContactData::update ( const std::vector< rbd::MultiBodyConfig > & mbcs )

Member Data Documentation

◆ b1Index

int tasks::qp::ContactConstr::ContactData::b1Index

◆ b2Index

int tasks::qp::ContactConstr::ContactData::b2Index

◆ contactId

ContactId tasks::qp::ContactConstr::ContactData::contactId

◆ contacts

std::vector<ContactSideData> tasks::qp::ContactConstr::ContactData::contacts

◆ dof

Eigen::MatrixXd tasks::qp::ContactConstr::ContactData::dof

◆ r1Index

int tasks::qp::ContactConstr::ContactData::r1Index

◆ r2Index

int tasks::qp::ContactConstr::ContactData::r2Index

◆ revDof

Eigen::MatrixXd tasks::qp::ContactConstr::ContactData::revDof

◆ X_b1_b2

sva::PTransformd tasks::qp::ContactConstr::ContactData::X_b1_b2

◆ X_b1_cf

sva::PTransformd tasks::qp::ContactConstr::ContactData::X_b1_cf

The documentation for this struct was generated from the following file:

src/Tasks/QPContactConstr.h

Public Member Functions

Public Attributes