lcmt_contact_information.lcm

package drake;

struct lcmt_contact_information {
  // The timestamp in microseconds.
  int64_t timestamp;

  string body_name;
  int32_t num_contact_points;
  int32_t num_basis_per_contact_point;

  // Offsets to individual contact points that are expressed in body frame.
  double contact_points[3][num_contact_points];

  // Expressed in body frame
  double normal[3];
  double mu;

  // Velocity gain used to stabilize contact velocity.
  // The actual constrained acceleration will be -Kd * xd, where xd is the
  // measured body velocity.
  double Kd;

  // Weight of the cost term if using SOFT constraint.
  double weight;

  // Constraint type, defined in lcmt_constrained_values.
  int8_t acceleration_constraint_type;
}