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

Include dependency graph for com_position_constraint.h:

Classes
class	ComPositionConstraint
	Impose the constraint p_EScm(q) - p_EC = 0, where p_EScm(q) is a function that computes the center-of-mass (COM) position from robot generalized position q, expressed in a frame E. More...

Classes

Namespaces