add_multibody_plant_constraints.h File Reference

#include <memory>
#include <vector>
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/mathematical_program.h"

Include dependency graph for add_multibody_plant_constraints.h:

Namespaces
namespace	drake
namespace	drake::multibody

Functions
std::vector< solvers::Binding< solvers::Constraint > >	AddMultibodyPlantConstraints (const std::shared_ptr< const MultibodyPlant< double > > &plant, const solvers::VectorXDecisionVariable &q, solvers::MathematicalProgram *prog, systems::Context< double > *plant_context=nullptr)
	For all kinematic constraints associated with plant adds a corresponding solver::Constraint to prog, using decision variables q to represent the generalized positions of the plant.