Tasks  1.8.3
Public Member Functions | Public Attributes | List of all members
tasks::qp::ContactConstr::ContactSideData Struct Reference

#include <Tasks/QPContactConstr.h>

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Public Member Functions

 ContactSideData (int rI, int aDB, double s, const rbd::Jacobian &j, const sva::PTransformd &Xbp)
 

Public Attributes

int robotIndex
 
int alphaDBegin
 
int bodyIndex
 
double sign
 
rbd::Jacobian jac
 
sva::PTransformd X_b_p
 

Constructor & Destructor Documentation

◆ ContactSideData()

tasks::qp::ContactConstr::ContactSideData::ContactSideData ( int  rI,
int  aDB,
double  s,
const rbd::Jacobian &  j,
const sva::PTransformd &  Xbp 
)
inline

Member Data Documentation

◆ alphaDBegin

int tasks::qp::ContactConstr::ContactSideData::alphaDBegin

◆ bodyIndex

int tasks::qp::ContactConstr::ContactSideData::bodyIndex

◆ jac

rbd::Jacobian tasks::qp::ContactConstr::ContactSideData::jac

◆ robotIndex

int tasks::qp::ContactConstr::ContactSideData::robotIndex

◆ sign

double tasks::qp::ContactConstr::ContactSideData::sign

◆ X_b_p

sva::PTransformd tasks::qp::ContactConstr::ContactSideData::X_b_p
The documentation for this struct was generated from the following file: