Drake
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...