ContactState.hpp

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#ifndef ODOMETRY_CONTACTSTATE_HPP__
#define ODOMETRY_CONTACTSTATE_HPP__

#include <base/Eigen.hpp>
#include <base/Time.hpp>
#include <vector>

namespace odometry
{

struct BodyContactPoint
{
    base::Vector3d position;

    double contact;

    double slip;

    int groupId;
};

struct BodyContactState
{
    base::Time time;
    
    std::vector<BodyContactPoint> points;
};

}

#endif