tasks::qp::MotionConstrCommon::ContactData Struct Reference

#include <Tasks/QPMotionConstr.h>

Public Member Functions
	ContactData ()
	ContactData (const rbd::MultiBody &mb, const std::string &bodyName, int lambdaBegin, std::vector< Eigen::Vector3d > points, const std::vector< FrictionCone > &cones)

Public Attributes
int	bodyIndex
int	lambdaBegin
rbd::Jacobian	jac
std::vector< Eigen::Vector3d >	points
std::vector< Eigen::Matrix< double, 3, Eigen::Dynamic > >	minusGenerators

Constructor & Destructor Documentation

ContactData() [1/2]

tasks::qp::MotionConstrCommon::ContactData::ContactData ( )

inline

ContactData() [2/2]

tasks::qp::MotionConstrCommon::ContactData::ContactData	(	const rbd::MultiBody &	mb,
		const std::string &	bodyName,
		int	lambdaBegin,
		std::vector< Eigen::Vector3d >	points,
		const std::vector< FrictionCone > &	cones
	)

Member Data Documentation

bodyIndex

int tasks::qp::MotionConstrCommon::ContactData::bodyIndex

jac

rbd::Jacobian tasks::qp::MotionConstrCommon::ContactData::jac

lambdaBegin

int tasks::qp::MotionConstrCommon::ContactData::lambdaBegin

minusGenerators

std::vector<Eigen::Matrix<double, 3, Eigen::Dynamic> > tasks::qp::MotionConstrCommon::ContactData::minusGenerators

points

std::vector<Eigen::Vector3d> tasks::qp::MotionConstrCommon::ContactData::points

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

• src/Tasks/QPMotionConstr.h