ContactsFrictionPointConstraint.hpp

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#ifndef WBC_CORE_CONTACTS_FRICTION_POINT_CONSTRAINT_HPP
#define WBC_CORE_CONTACTS_FRICTION_POINT_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
 
namespace wbc {
 
class ContactsFrictionPointConstraint : public Constraint{
public:
    explicit ContactsFrictionPointConstraint(bool _reduced = false) : Constraint(Constraint::inequality), reduced(_reduced) { }
 
    virtual ~ContactsFrictionPointConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
private:
    bool reduced; // if torques are removed from the qp formulation or not
};
 
}
 
#endif // WBC_CORE_CONTACTS_FRICTION_POINT_CONSTRAINT_HPP