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

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

.. autosummary::
    ~klampt.model.contact.ContactPoint
    ~klampt.model.contact.Hold
    ~klampt.model.contact.force_closure
    ~klampt.model.contact.com_equilibrium
    ~klampt.model.contact.support_polygon
    ~klampt.model.contact.equilibrium_torques
    ~klampt.model.contact.contact_map
    ~klampt.model.contact.world_contact_map
    ~klampt.model.contact.sim_contact_map
    ~klampt.model.contact.contact_map_ik_objectives
    ~klampt.model.contact.contact_map_holds
    ~klampt.model.contact.geometry_contacts
    ~klampt.model.contact.wrench_matrices

Helpers
~~~~~~~~

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

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