static_equilibrium_constraint.h File Reference

#include <map>
#include <memory>
#include <utility>
#include <vector>
#include "drake/geometry/scene_graph.h"
#include "drake/multibody/optimization/contact_wrench_evaluator.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/binding.h"
#include "drake/solvers/constraint.h"

Include dependency graph for static_equilibrium_constraint.h:

Classes
class	StaticEquilibriumConstraint
	Impose the static equilibrium constraint 0 = τ_g + Bu + ∑J_WBᵀ(q) * Fapp_B_W. More...

Namespaces
namespace	drake
namespace	drake::multibody