20 #ifndef _CONTACT_KINEMATICS_POINT_SPATIAL_CONTOUR_H_
21 #define _CONTACT_KINEMATICS_POINT_SPATIAL_CONTOUR_H_
23 #include "contact_kinematics.h"
28 class FuncPairSpatialContourPoint;
48 virtual void updateg(
double &g, std::vector<ContourFrame*> &cFrame,
int index = 0);
52 void setSearchAllContactPoints(
bool searchAllCP_=
true) { searchAllCP = searchAllCP_; }
53 void setInitialGuess(
const fmatvec::VecV &zeta0_) { zeta0 = zeta0_; }
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
root function for pairing SpatialContour and Point
Definition: funcpair_spatialcontour_point.h:35
most primitive contour: the point (no extention)
Definition: point.h:35