ContactsFrictionSurfaceConstraint.hpp

Go to the documentation of this file.

#ifndef WBC_CORE_CONTACTS_FRICTION_SURFACE_CONSTRAINT_HPP
#define WBC_CORE_CONTACTS_FRICTION_SURFACE_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
 
namespace wbc {
 
class ContactsFrictionSurfaceConstraint : public Constraint{
public:
    explicit ContactsFrictionSurfaceConstraint(bool _reduced = false) : Constraint(Constraint::inequality), reduced(_reduced) { }
 
    virtual ~ContactsFrictionSurfaceConstraint() = 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_SURFACE_CONSTRAINT_HPP