ContactPoseFactor for flat foot constraint

borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.

BSD 2-Clause "Simplified" License

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ContactPoseFactor for flat foot constraint #357

Closed varunagrawal closed 2 years ago

varunagrawal commented 2 years ago

This PR adds a new ContactPoseFactor which constraints a link to a reference frame (aka Pose3), in contrast to ContactPointFactor which constrains to a Point3. This is very useful for humanoids for both feet as well as grasping contact.

dellaert commented 2 years ago

I'm not going to be able to review. Please enlist help from others while I'm OOO