Commit d30b64c7 authored by Pierre Fernbach's avatar Pierre Fernbach
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[Readme] update to addition of the ContactModel class

parent c7b09085
......@@ -41,13 +41,14 @@ make test
## Main classes
This package define 3 main classes representing physical concepts of legged locomotion. Contact Patch, Contact Phase and Contact Sequence.
This package define 4 main classes representing physical concepts of legged locomotion. Contact Model, Contact Patch, Contact Phase and Contact Sequence.
A Contact Model define the physical properties of a contact. A Contact Patch define completely a contact between a part of the robot and the environment, it contain a Contact Model. A Contact Phase is defined by a constant set of contacts, it contains one or more Contact Patches. Finally, a Contact Sequence is a sequence of Contact Phases.
### Contact Patch
A contact patch define the placement (in SE(3), in the world frame) of a contact as long as the friction coefficient for this contact.
A contact patch define the placement (in SE(3), in the world frame) of a contact between a part of the robot and the environment. It contains a ContactModel.
Future work will also include the type of contact (eg planar, punctual, bilateral ...), a representation of the friction cone or additional information about the contact.
### Contact Phase
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