klampt.model.contact module
-------------------------------------------

Primary API
~~~~~~~~~~~~

.. autosummary::
    ~klampt.model.contact.ContactPoint
    ~klampt.model.contact.Hold
    ~klampt.model.contact.forceClosure
    ~klampt.model.contact.comEquilibrium
    ~klampt.model.contact.supportPolygon
    ~klampt.model.contact.equilibriumTorques
    ~klampt.model.contact.contactMap
    ~klampt.model.contact.worldContactMap
    ~klampt.model.contact.simContactMap
    ~klampt.model.contact.contactMapIKObjectives
    ~klampt.model.contact.contactMapHolds
    ~klampt.model.contact.geometryContacts
    ~klampt.model.contact.wrenchMatrices

Helpers
~~~~~~~~

.. autosummary::
    ~klampt.model.contact.idToObject
    ~klampt.model.contact.skew
    ~klampt.model.contact.invMassMatrix
    

.. automodule:: klampt.model.contact
    :members:
    :undoc-members:
    :show-inheritance: