constraint_specs.h File Reference

Detailed Description

This files contains simple structs used to store constraint specifications defined by the user through MultibodyPlant API calls.

These specifications are later on used by our discrete solvers to build a model.

#include <limits>
#include <optional>
#include <vector>
#include "drake/math/rigid_transform.h"
#include "drake/multibody/plant/deformable_ids.h"
#include "drake/multibody/tree/multibody_tree_indexes.h"

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Namespaces
	drake
	drake::multibody