Migrate Contact library outside Planners folder

[prashanthr05]

In #142, we identified the Contact class to have a more generic usage extending beyond just planning.
So we abstracted the current Contact class into a ContactBase class and implemented derived classes PlannedContact and EstimatedContact classes.

In order to not break the current workflows and python bindings related merges, I created a new library Contacts and added only the above mentioned classes (See #142 (comment)).
However, it would make sense to eventually move other contacts-related components from the Contact library that are currently existing in the Planners folder as well into the new Contacts folder.

Consequently, we might also have to make changes in the python bindings generation? (do we? please correct me if I am wrong.)
Specifically, the changes will be

• renaming of Contact as PlannedContact
• renaming ContactList, ContactPhase, ContactPhaseList to corresponding PlannedContact equivalents
• replacing using namespace Plannerstousing namespace Contacts

cc @GiulioRomualdi @S-Dafarra @diegoferigo

[diegoferigo]

No problem for the renaming from my side, I don't have much code to migrate and I think I'm the only one that developed in the past weeks some code in Python.

Consequently, we might also have to make changes in the python bindings generation? (do we? please correct me if I am wrong.)

Yes there are few required changes, for instance (they might not be all of them):

• bindings/python/Contacts.cpp
• python/tests/test_contact.py
• python/tests/test_time_verying_dcm_planner.py

[prashanthr05]

Thanks @diegoferigo. I will open a PR after https://github.com/dic-iit/bipedal-locomotion-framework/pull/142/files gets merged, and add you as one of the reviewers for the python part.

[prashanthr05]

#142 has been merged. I will proceed with the complete migration soon.