wbc
ContactsAccelerationConstraint.hpp
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1#ifndef WBC_CORE_CONTACTS_ACCELERATION_CONSTRAINT_HPP
2#define WBC_CORE_CONTACTS_ACCELERATION_CONSTRAINT_HPP
3
5#include <memory>
6
7namespace wbc{
8
13public:
14
16 explicit ContactsAccelerationConstraint(bool _reduced = false) : Constraint(Constraint::equality), reduced(_reduced) { }
17
19
20 virtual void update(RobotModelPtr robot_model) override;
21
22private:
23
24 bool reduced; // if torques are removed from the qp formulation or not
25
26};
27
28typedef std::shared_ptr<ContactsAccelerationConstraint> ContactsAccelerationConstraintPtr;
29
30} // namespace wbc
31#endif // WBC_CORE_CONTACTS_ACCELERATION_CONSTRAINT_HPP
@ equality
Definition Constraint.hpp:21
Constraint()
Default constructor.
Definition Constraint.cpp:5
ContactsAccelerationConstraint(bool _reduced=false)
Default constructor.
Definition ContactsAccelerationConstraint.hpp:16
virtual void update(RobotModelPtr robot_model) override
Update constraint matrix and vectors, depending on the type. Abstract method.
Definition ContactsAccelerationConstraint.cpp:5
virtual ~ContactsAccelerationConstraint()=default
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315
std::shared_ptr< ContactsAccelerationConstraint > ContactsAccelerationConstraintPtr
Definition ContactsAccelerationConstraint.hpp:28