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Highly unlikely the child was traumatized at all. That's the problem with people these days. They instantly assume every little thing is traumatic for a child. Eventually they will grow up and not have any coping skills due to the extremely sheltered existence they grew up on.
Kids aren't allowed under the table. OH and if you weren't wearing underwear, you definitely shouldn't have had her under the table. OR you should have worn some because you'd know kids go under tables...
An amusing YDI
You've really got no one to blame but yourself for that one.
If you're not wearing underwear at least seat in a way which won't reveal it.