#include <memory>
#include "drake/common/drake_copyable.h"
#include "drake/multibody/inverse_kinematics/angle_between_vectors_constraint.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/cost.h"
#include "drake/systems/framework/context.h"
Classes | |
class | AngleBetweenVectorsCost |
Implements a cost of the form c*(1-cosθ), where θ is the angle between two vectors a and b . More... | |
Namespaces | |
drake | |
drake::multibody | |