feat(lcs-factory): add planar normal config for lcs factory options

[Meow404]

This change is 

[xuanhien070594]

multibody/lcs_factory.cc line 123 at r1 (raw file):

        planar_normal_direction_per_contact_.push_back(
            options_.planar_normal_direction.value());
      } else {

As we don't need this else branch, we can initialize the vector planar_normal_direction_per_contact_ with all default values { }, then assign new value when n_friction_directions_per_contact_[i] == 1. In addition, can we use single for loop to reduce code duplication?

[xuanhien070594]

@xuanhien070594 reviewed 9 files and all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @Meow404).

[Meow404]

@Meow404 made 1 comment.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @xuanhien070594).

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multibody/lcs_factory.cc line 123 at r1 (raw file):

Previously, xuanhien070594 (Hien Bui) wrote…

As we don't need this else branch, we can initialize the vector planar_normal_direction_per_contact_ with all default values { }, then assign new value when n_friction_directions_per_contact_[i] == 1. In addition, can we use single for loop to reduce code duplication?

Done.

[xuanhien070594]

@xuanhien070594 reviewed 1 file and all commit messages, made 1 comment, and resolved 1 discussion.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Meow404).

[github-actions]

LCOV of commit af98d68 during C3 Coverage #69

Summary coverage rate:
  lines......: 91.9% (1444 of 1571 lines)
  functions..: 77.4% (130 of 168 functions)
  branches...: 52.2% (1196 of 2290 branches)

Files changed coverage rate:
                                        |Lines       |Functions  |Branches    
  Filename                              |Rate     Num|Rate    Num|Rate     Num
  ============================================================================
  multibody/lcs_factory.cc              | 4.8%    313|3573%    15|    -      0
  multibody/lcs_factory.h               |33.3%      3|1200%     1|    -      0
  multibody/lcs_factory_options.h       | 6.9%     29| 800%     2|    -      0