mayataka/robotoc

Expose the contact sequence class

mayataka opened this issue · 1 comments

mayataka commented

It is inconvenient to treat the ContactSequence through OCPSolver.
To expose ContactSequence, the following changes may be useful:

  • OCPSolver has std::shared_ptr<ContactSequence> contact_sequence_ instead of ContactSequence contact_sequence_.
mayataka commented

The following Python bindings are required:

  • ContactSequence
  • DiscreteEvent
  • ImpulseStatus