#include "drake/multibody/optimization/contact_wrench_evaluator.h"
#include "drake/solvers/binding.h"
#include "drake/solvers/constraint.h"
#include "drake/solvers/mathematical_program.h"

Include dependency graph for static_friction_cone_constraint.h:

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Classes
class	StaticFrictionConeConstraint
	Formulates the nonlinear friction cone constraint \|fₜ\| ≤ μ*fₙ, where fₜ is the tangential contact force, fₙ is the normal contact force, and μ is the friction coefficient. More...

Namespaces
namespace	drake
namespace	drake::multibody

Classes

Namespaces