__init__()

def __init__	(		self,
		str	link_name,
		np.ndarray	position_contact_in_world,
		np.ndarray	force_in_world
	)

Initialize point contact.

Parameters

force_in_world	Contact force vector in the world frame.
link_name	Name of the robot link in contact.
position_contact_in_world	Position of the contact point in the world frame.