#include <set>
#include <string>
#include <vector>
#include <Eigen/Dense>
#include <Eigen/SparseCore>
#include "drake/multibody/kinematics_cache.h"
#include "drake/multibody/rigid_body_tree.h"
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class | RigidBodyConstraint |
| Abstract base class. More...
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class | QuasiStaticConstraint |
| Constrain the Center of Mass (CoM) within the support polygon. More...
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class | PostureConstraint |
| Constrain the joint limits. More...
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class | MultipleTimeLinearPostureConstraint |
| Constrain the posture such that lb(t(1), t(2),..., t(n)) <= A_mat(t(1), t(2), t(n))*[q(t(1));q(t(2));...;q(t(n))] <= ub(t(1), t(2),..., t(n)) where A_mat is a sparse matrix that only depends on t(1), t(2),..., t(n) More...
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class | SingleTimeLinearPostureConstraint |
| Constrain the posture satisfies lb <= A_mat * q <= ub at any time, where A_mat is a sparse matrix. More...
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class | SingleTimeKinematicConstraint |
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class | MultipleTimeKinematicConstraint |
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class | PositionConstraint |
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class | WorldPositionConstraint |
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class | WorldCoMConstraint |
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class | RelativePositionConstraint |
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class | QuatConstraint |
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class | WorldQuatConstraint |
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class | RelativeQuatConstraint |
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class | EulerConstraint |
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class | WorldEulerConstraint |
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class | GazeConstraint |
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class | GazeOrientConstraint |
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class | WorldGazeOrientConstraint |
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class | GazeDirConstraint |
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class | WorldGazeDirConstraint |
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class | GazeTargetConstraint |
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class | WorldGazeTargetConstraint |
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class | RelativeGazeTargetConstraint |
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class | RelativeGazeDirConstraint |
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class | Point2PointDistanceConstraint |
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class | Point2LineSegDistConstraint |
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class | WorldFixedPositionConstraint |
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class | WorldFixedOrientConstraint |
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class | WorldFixedBodyPoseConstraint |
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class | AllBodiesClosestDistanceConstraint |
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class | MinDistanceConstraint |
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class | WorldPositionInFrameConstraint |
| Constrain the points Q on a body to be within a bounding box specified in a fixed frame F. More...
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class | PostureChangeConstraint |
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class | GravityCompensationTorqueConstraint |
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