position_cost.h File Reference

#include "drake/multibody/inverse_kinematics/position_constraint.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/cost.h"
#include "drake/systems/framework/context.h"

Include dependency graph for position_cost.h:

Classes
class	PositionCost
	Implements a cost of the form (p_AP - p_AQ)ᵀ C (p_AP - p_AQ), where point P is specified relative to frame A and point Q is specified relative to frame B, and the cost is evaluated in frame A. More...

Namespaces
	drake
	drake::multibody