drake::multibody::constraint Namespace Reference

Classes
struct	ConstraintAccelProblemData
	Structure for holding constraint data for computing forces due to constraints and the resulting multibody accelerations. More...
class	ConstraintSolver
	Solves constraint problems for constraint forces. More...
struct	ConstraintVelProblemData
	Structure for holding constraint data for computing constraint forces at the velocity-level (i.e., impact problems). More...