wbc
ContactsVelocityConstraint.hpp
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1#ifndef WBC_CORE_CONTACTS_VELOCITY_CONSTRAINT_HPP
2#define WBC_CORE_CONTACTS_VELOCITY_CONSTRAINT_HPP
3
5#include <memory>
6
7namespace wbc{
8
13public:
14
17
18 virtual ~ContactsVelocityConstraint() = default;
19
20 virtual void update(RobotModelPtr robot_model) override;
21
22};
23typedef std::shared_ptr<ContactsVelocityConstraint> ContactsVelocityConstraintPtr;
24
25} // namespace wbc
26#endif // WBC_CORE_CONTACTS_VELOCITY_CONSTRAINT_HPP
@ equality
Definition Constraint.hpp:21
Constraint()
Default constructor.
Definition Constraint.cpp:5
ContactsVelocityConstraint()
Default constructor.
Definition ContactsVelocityConstraint.hpp:16
virtual ~ContactsVelocityConstraint()=default
virtual void update(RobotModelPtr robot_model) override
Update constraint matrix and vectors, depending on the type. Abstract method.
Definition ContactsVelocityConstraint.cpp:5
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< ContactsVelocityConstraint > ContactsVelocityConstraintPtr
Definition ContactsVelocityConstraint.hpp:23
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315