RigidbodyDynamicsConstraint.hpp

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#ifndef RIGIDBODY_DYNAMICS_CONSTRAINT_HPP
#define RIGIDBODY_DYNAMICS_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
 
#include <base/Eigen.hpp>
#include <base/Time.hpp>
#include <base/NamedVector.hpp>
#include <memory>
 
namespace wbc{
 
class RigidbodyDynamicsConstraint : public Constraint {
public:
 
    explicit RigidbodyDynamicsConstraint(bool reduced = false) 
        : Constraint(Constraint::equality), reduced(reduced) { }
 
    virtual ~RigidbodyDynamicsConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
protected:
 
    bool reduced;
};
typedef std::shared_ptr<RigidbodyDynamicsConstraint> RigidbodyDynamicsConstraintPtr;
 
} // namespace wbc
#endif