Drake
constraint_solver_test.cc File Reference
#include "drake/multibody/constraint/constraint_solver.h"
#include <cmath>
#include <memory>
#include <gtest/gtest.h>
#include "drake/common/drake_assert.h"
#include "drake/examples/rod2d/rod2d.h"
Include dependency graph for constraint_solver_test.cc:

Namespaces

 drake
 
 drake::multibody
 
 drake::multibody::constraint
 

Typedefs

using Vector2d = Eigen::Vector2d
 

Typedef Documentation

using Vector2d = Eigen::Vector2d

Variable Documentation

std::unique_ptr<ConstraintAccelProblemData<double> > accel_data_
protected
double cfm_ {0}
protected
std::unique_ptr<Context<double> > context_
protected
const bool kForceAppliedToLeft = false
protected
const bool kForceAppliedToRight = true
protected
const bool kSlideLeft = false
protected
const bool kSlideRight = true
protected
double lcp_eps_ {-1}
protected
std::unique_ptr<Rod2D<double> > rod_
protected
ConstraintSolver<double> solver_
protected
std::unique_ptr<ConstraintVelProblemData<double> > vel_data_
protected