#include <memory>
#include <vector>
#include "drake/multibody/optimization/contact_wrench_evaluator.h"
#include "drake/solvers/binding.h"
#include "drake/solvers/constraint.h"
#include "drake/solvers/mathematical_program.h"
Namespaces | |
drake | |
drake::multibody | |
Functions | |
solvers::Binding< internal::StaticFrictionConeComplementarityNonlinearConstraint > | AddStaticFrictionConeComplementarityConstraint (const ContactWrenchEvaluator *contact_wrench_evaluator, double complementarity_tolerance, const Eigen::Ref< const VectorX< symbolic::Variable >> &q_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &lambda_vars, solvers::MathematicalProgram *prog) |
Adds the complementarity constraint on the static friction force between a pair of contacts |ft_W| <= μ * n_Wᵀ * f_W (static friction force in the friction cone). More... | |