quaternion_integration_constraint.h File Reference

#include <limits>
#include "drake/math/autodiff_gradient.h"
#include "drake/solvers/constraint.h"

Include dependency graph for quaternion_integration_constraint.h:

Classes
class	QuaternionEulerIntegrationConstraint
	If we have a body with orientation quaternion z₁ at time t₁, and a quaternion z₂ at time t₂ = t₁ + h, with the angular velocity ω (expressed in the world frame), we impose the constraint that the body rotates at a constant velocity ω from quaternion z₁ to quaternion z₂ within time interval h. More...

Namespaces
	drake
	drake::multibody