20 #ifndef _CONTACT_KINEMATICS_CIRCLEPLANARCONTOUR_H_
21 #define _CONTACT_KINEMATICS_CIRCLEPLANARCONTOUR_H_
23 #include "contact_kinematics.h"
28 class FuncPairPlanarContourCircle;
49 virtual void updateg(
double &g, std::vector<ContourFrame*> &cFrame,
int index = 0);
53 void setSearchAllContactPoints(
bool searchAllCP_=
true) { searchAllCP = searchAllCP_; }
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
root function for pairing PlanarContour and Circle
Definition: funcpair_planarcontour_circle.h:34