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

Include dependency graph for com_in_polyhedron_constraint.h:

Classes
class	ComInPolyhedronConstraint
	Constrains the center of mass to lie within a polyhedron lb <= A * p_EC <= ub where p_EC is the position of the center-of-mass (C) expressed in a frame E. More...

Namespaces
	drake

	drake::multibody

Classes

Namespaces