Contact.h File Reference

#include <mc_rbdyn/Robot.h>
#include <mc_rtc/Configuration.h>
#include <mc_rtc/logging.h>
#include <SpaceVecAlg/SpaceVecAlg>
#include <cmath>
#include <lipm_walking/Sole.h>
#include <lipm_walking/utils/world.h>

Go to the source code of this file.

Classes
struct	lipm_walking::Contact
	Contacts wrap foot frames with extra info from the footstep plan. More...
struct	mc_rtc::ConfigurationLoader< lipm_walking::Contact >

Namespaces
	lipm_walking
	Main controller namespace.
	mc_rtc
	Framework namespace, only used to add a configuration loader.

Typedefs
using	lipm_walking::HrepXd = std::pair< Eigen::MatrixXd, Eigen::VectorXd >

Enumerations
enum	lipm_walking::ContactState {   lipm_walking::ContactState::DoubleSupport,   lipm_walking::ContactState::LeftFoot,   lipm_walking::ContactState::RightFoot }
	Contact state: set of feet in contact. More...

Functions
Contact	lipm_walking::operator* (const sva::PTransformd &X, const Contact &contact)
	Apply Plucker transform to contact frame. More...