20 #ifndef _CONTACT_KINEMATICS_H_
21 #define _CONTACT_KINEMATICS_H_
23 #include "fmatvec/fmatvec.h"
24 #include "fmatvec/atom.h"
56 virtual void assignContours(
const std::vector<Contour*> &contour) = 0;
65 virtual void updateg(
double &g, std::vector<ContourFrame*> &cFrame,
int index = 0) = 0;
90 virtual void setSearchAllContactPoints(
bool searchAllCP_=
true) { }
91 virtual void setInitialGuess(
const fmatvec::VecV &zeta0_) { }
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
casadi::DM c(const double &x)
convert double to casadi::DM
Definition: symbolic_function.h:48