ContactsFrictionSurfaceConstraint.hpp

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#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, bool _use_slack = false) :
        Constraint(Constraint::inequality), reduced(_reduced), use_slack(_use_slack) { }
 
    virtual ~ContactsFrictionSurfaceConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;

    void setUseSlack(bool enable){use_slack = enable;}

    bool useSlack() const {return use_slack;}
 
private:
    bool reduced; // if torques are removed from the qp formulation or not
    bool use_slack; // if the friction cone is softened using one slack variable per contact
};
 
}
 
#endif // WBC_CORE_CONTACTS_FRICTION_SURFACE_CONSTRAINT_HPP