#include <utility>
#include <vector>
#include "drake/examples/planar_gripper/gripper_brick.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/constraint.h"
#include "drake/solvers/mathematical_program.h"

Include dependency graph for brick_static_equilibrium_constraint.h:

Classes
class	BrickStaticEquilibriumNonlinearConstraint
	Given the set of contacts between the fingertips and the brick, impose the static equilibrium as a nonlinear constraint, that the total force/torque applied on the brick is 0. More...

Namespaces
	drake

	drake::examples

	drake::examples::planar_gripper

Functions
Matrix2X< symbolic::Variable >	AddBrickStaticEquilibriumConstraint (const GripperBrickHelper< double > &gripper_brick_system, const std::vector< std::pair< Finger, BrickFace >> &finger_face_contacts, const Eigen::Ref< const VectorX< symbolic::Variable >> &q_vars, systems::Context< double > plant_mutable_context, solvers::MathematicalProgram prog)
	Given the assignment of contacts between fingers and faces, add the following constraints/variables to the program: More...

Classes

Namespaces

Functions