contact_model_info.hpp

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#ifndef ROBOTOC_CONTACT_MODEL_INFO_HPP_
#define ROBOTOC_CONTACT_MODEL_INFO_HPP_
 
#include <string>
 
namespace robotoc {
 
struct ContactModelInfo {
  ContactModelInfo(const std::string& frame, const double baumgarte_time_step);
 
  ContactModelInfo(const std::string& frame, 
                   const double baumgarte_position_gain,
                   const double baumgarte_velocity_gain);
 
  ContactModelInfo() = default;
 
  ~ContactModelInfo() = default;
 
  ContactModelInfo(const ContactModelInfo&) = default;
 
  ContactModelInfo& operator=(const ContactModelInfo&) = default;
 
  ContactModelInfo(ContactModelInfo&&) noexcept = default;
 
  ContactModelInfo& operator=(ContactModelInfo&&) noexcept = default;
 
  std::string frame;
 
  double baumgarte_position_gain = 0.0;
 
  double baumgarte_velocity_gain = 0.0;
};
 
} // namespace robotoc
 
#endif // ROBOTOC_CONTACT_MODEL_INFO_HPP_