ContactWrenchMatrixToLambdaMatrix.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_solver/QPSolver.h>
#include <mc_solver/api.h>
 
namespace mc_solver
{
 
namespace utils
{
 
struct MC_SOLVER_DLLAPI ContactWrenchMatrixToLambdaMatrix
{
  ContactWrenchMatrixToLambdaMatrix(const mc_solver::QPSolver & solver, const tasks::qp::ContactId & cid);
 
  inline Eigen::MatrixXd transform(const Eigen::MatrixXd & A) const { return A * transform_; }
 
  const Eigen::MatrixXd & transform() const { return transform_; }
 
private:
  Eigen::MatrixXd transform_;
};
 
} // namespace utils
 
} // namespace mc_solver