ContactsAccelerationConstraint.hpp

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#ifndef WBC_CORE_CONTACTS_ACCELERATION_CONSTRAINT_HPP
#define WBC_CORE_CONTACTS_ACCELERATION_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
#include <memory>
 
namespace wbc{

class ContactsAccelerationConstraint : public Constraint {
public:

    explicit ContactsAccelerationConstraint(bool _reduced = false, uint dim_contact = 3) : 
        Constraint(Constraint::equality), reduced(_reduced), dim_contact(dim_contact) { }
 
    virtual ~ContactsAccelerationConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
private:
 
    bool reduced; // if torques are removed from the qp formulation or not
    uint dim_contact;
 
};
 
typedef std::shared_ptr<ContactsAccelerationConstraint> ContactsAccelerationConstraintPtr;
 
} // namespace wbc
#endif // WBC_CORE_CONTACTS_ACCELERATION_CONSTRAINT_HPP