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wbc
RigidbodyDynamicsConstraint.hpp
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1#ifndef WBC_CORE_RIGIDBODY_DYNAMICS_CONSTRAINT_HPP
2#define WBC_CORE_RIGIDBODY_DYNAMICS_CONSTRAINT_HPP
3
5
6#include <memory>
7
8namespace wbc{
9
14public:
15
19
20 virtual ~RigidbodyDynamicsConstraint() = default;
21
22 virtual void update(RobotModelPtr robot_model) override;
23
24protected:
25
26 bool reduced;
27};
28typedef std::shared_ptr<RigidbodyDynamicsConstraint> RigidbodyDynamicsConstraintPtr;
29
30} // namespace wbc
31#endif // WBC_CORE_RIGIDBODY_DYNAMICS_CONSTRAINT_HPP
@ equality
Definition Constraint.hpp:21
Constraint()
Default constructor.
Definition Constraint.cpp:5
virtual ~RigidbodyDynamicsConstraint()=default
bool reduced
Definition RigidbodyDynamicsConstraint.hpp:26
virtual void update(RobotModelPtr robot_model) override
Update constraint matrix and vectors, depending on the type. Abstract method.
Definition RigidbodyDynamicsConstraint.cpp:6
RigidbodyDynamicsConstraint(bool reduced=false)
Default constructor.
Definition RigidbodyDynamicsConstraint.hpp:17
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< RigidbodyDynamicsConstraint > RigidbodyDynamicsConstraintPtr
Definition RigidbodyDynamicsConstraint.hpp:28
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315