Contact.h File Reference

#include <mc_rbdyn/api.h>
#include <mc_rtc/Configuration.h>
#include <Tasks/QPContacts.h>
#include <SpaceVecAlg/SpaceVecAlg>
#include <memory>

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Classes
struct	mc_solver::QPContactPtr
struct	mc_solver::QPContactPtrWPoints
struct	mc_rbdyn::Contact

Namespaces
	mc_solver
	mc_rbdyn

Functions
MC_RBDYN_DLLAPI std::vector< sva::PTransformd >	mc_rbdyn::computePoints (const mc_rbdyn::Surface &robotSurface, const mc_rbdyn::Surface &envSurface, const sva::PTransformd &X_es_rs)