C++ refactoring of Contact

[GiulioRomualdi]

This is the C++ refactoring of Contact class. I'm not really sure about this solution for the following reasons:

1. Right now we are exposing Contacts and Contact. The former is in https://github.com/dic-iit/bipedal-locomotion-framework/tree/master/src/Contacts while the latter is in https://github.com/dic-iit/bipedal-locomotion-framework/tree/master/src/Planners. This is confusing 😭
   

2. Shall we move also the ContactLists etc in Contacts?

3. I do not know how to handle the transition in the bindings for the following reasons

   1. the old Contact is just a typedef of PlannedContact,
   2. The new Contact class is a base class that we should wrap in python so this will destroy the retro compatibility
   3. I do not know how to handle the deprecation with pybind

cc @prashanthr05 @traversaro @S-Dafarra and @diegoferigo

This will close #162

[traversaro]

The new Contact class is a base class that we should wrap in python so this will destroy the retro compatibility

I think it is safe to do so at this point? We have a big warning in the README exactly for that.

[GiulioRomualdi]

If @paolo-viceconte and @diegoferigo agree we can proceed in this way

1. in all your python code you should just substitute Contact with PlannedContact
2. If you want to run code that that requires the old implementation you can use the release 0.1.0 https://github.com/dic-iit/bipedal-locomotion-framework/releases/tag/v0.1.0

This will unblock @prashanthr05 from porting the estimator in python

[diegoferigo]

Yes you can proceed in this way. No problem if some code here and there breaks, it seems a trivial change.

[paolo-viceconte]

I agree as well.

[prashanthr05]

Related issue: #162

[prashanthr05]

2.Shall we move also the ContactLists etc in Contacts?

I suppose we could move the data structures

• ContactList,
• ContactPhase, and
• ContactPhaseList

to Contacts. If we break, let's break it altogether in an uniform way. But, should we also rename them?

[GiulioRomualdi]

Yes you can proceed in this way. No problem if some code here and there breaks, it seems a trivial change.

This is the only modification required in python

[GiulioRomualdi]

I also created the bindings for the EstimatedContacts so @prashanthr05 can start using it

[prashanthr05]

Looks good! Thanks @GiulioRomualdi !!