static_friction_cone_complementarity_constraint.h File Reference

#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"

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Namespaces
namespace	drake
namespace	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).