RigidbodyDynamicsConstraint.hpp

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#ifndef WBC_CORE_RIGIDBODY_DYNAMICS_CONSTRAINT_HPP
#define WBC_CORE_RIGIDBODY_DYNAMICS_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
 
#include <memory>
 
namespace wbc{

class RigidbodyDynamicsConstraint : public Constraint {
public:

    explicit RigidbodyDynamicsConstraint(bool reduced = false, uint dim_contact = 3) 
        : Constraint(Constraint::equality), reduced(reduced), dim_contact(dim_contact) { }
 
    virtual ~RigidbodyDynamicsConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
protected:
 
    bool reduced;
    uint dim_contact;
};
typedef std::shared_ptr<RigidbodyDynamicsConstraint> RigidbodyDynamicsConstraintPtr;
 
} // namespace wbc
#endif // WBC_CORE_RIGIDBODY_DYNAMICS_CONSTRAINT_HPP