unit_quaternion_constraint.h File Reference

#include <memory>
#include <vector>
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/constraint.h"
#include "drake/solvers/mathematical_program.h"

Include dependency graph for unit_quaternion_constraint.h:

Classes
class	UnitQuaternionConstraint
	Constrains the quaternion to have a unit length. More...

Namespaces
namespace	drake
namespace	drake::multibody

Functions
template<typename T>
std::vector< solvers::Binding< solvers::Constraint > >	AddUnitQuaternionConstraintOnPlant (const MultibodyPlant< T > &plant, const Eigen::Ref< const VectorX< symbolic::Variable > > &q_vars, solvers::MathematicalProgram *prog)
	Add unit length constraints to all the variables representing quaternion in q_vars.