robot_properties.hpp

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#ifndef ROBOTOC_ROBOT_PROPERTIES_HPP_
#define ROBOTOC_ROBOT_PROPERTIES_HPP_
 
#include <string>
#include <vector>
#include <utility>
#include <iostream>
 
#include "Eigen/Core"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/container/aligned-vector.hpp"
#include "pinocchio/spatial/force.hpp"
 
#include "robotoc/robot/se3.hpp"
#include "robotoc/robot/point_contact.hpp"
#include "robotoc/robot/surface_contact.hpp"
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/robot/impact_status.hpp"
#include "robotoc/utils/aligned_vector.hpp"
 
 
namespace robotoc {
 
struct RobotProperties {
  Eigen::VectorXd generalized_momentum_bias; 
  bool has_generalized_momentum_bias = false;
};
 
} // namespace robotoc 
 
#endif // ROBOTOC_ROBOT_PROPERTIES_HPP_