ContactConstraint.h

Go to the documentation of this file.

/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_solver/ConstraintSet.h>
 
#include <mc_rtc/void_ptr.h>
 
#include <Tasks/QPContactConstr.h>
 
namespace mc_solver
{
 
struct MC_SOLVER_DLLAPI ContactConstraint : public ConstraintSet
{
public:
  enum class ContactType
  {
    Acceleration = 0,
    Velocity = 1,
    Position = 2
  };
 
public:
  ContactConstraint(double timeStep, ContactType contactType = ContactType::Velocity);
 
  void addToSolverImpl(QPSolver & solver) override;
 
  void removeFromSolverImpl(QPSolver & solver) override;
 
  tasks::qp::ContactConstr * contactConstr();
 
  ContactType contactType() const noexcept { return contactType_; }
 
private:
  mc_rtc::void_ptr constraint_;
  ContactType contactType_;
};
 
} // namespace mc_solver