Drake
constraint_solver_test.cc File Reference
#include "drake/multibody/constraint/constraint_solver.h"
#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
 NOTE: The contents of this class are for the most part direct ports of drake/systems/plants//inverseKinBackend.m from Matlab to C++; many methods and variables follow Matlab conventions and are documented in that file.
 
 drake::multibody
 
 drake::multibody::constraint
 

Typedefs

using Vector2d = Eigen::Vector2d
 

Typedef Documentation

using Vector2d = Eigen::Vector2d

Variable Documentation

ConstraintAccelProblemData<double> accel_data_
protected
double cfm_ {0}
protected
std::unique_ptr<Context<double> > context_
protected
double eps_ {-1}
protected
std::unique_ptr<Rod2D<double> > rod_
protected
ConstraintSolver<double> solver_
protected
ConstraintVelProblemData<double> vel_data_
protected