#include <optional>
#include <vector>
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/constraint.h"

Include dependency graph for centroidal_momentum_constraint.h:

Classes
class	CentroidalMomentumConstraint
	Impose the constraint CentroidalMomentum(q, v) - h_WC = 0 with decision variables [q;v;h_WC] or CentroidalAngularMomentum(q, v) - k_WC = 0 with decision variables [q; v; k_WC] h_WC is the 6D spatial momentum (linear and angular momentum about the center of mass C) expressed in the world frame (W). More...

Classes

Namespaces