Drake
drake::multibody::constraint Namespace Reference

Classes

struct  ConstraintAccelProblemData
 Structure for holding constraint data for computing constraint forces at the acceleration-level. 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...