KinematicsConstraint.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/Robots.h>
#include <mc_solver/ConstraintSet.h>
 
#include <mc_rtc/void_ptr.h>
 
namespace mc_solver
{
 
struct MC_SOLVER_DLLAPI KinematicsConstraint : public ConstraintSet
{
public:
  KinematicsConstraint(const mc_rbdyn::Robots & robots, unsigned int robotIndex, double timeStep);
 
  KinematicsConstraint(const mc_rbdyn::Robots & robots,
                       unsigned int robotIndex,
                       double timeStep,
                       const std::array<double, 3> & damper,
                       double velocityPercent = 0.5);
 
protected:
  void addToSolverImpl(mc_solver::QPSolver & solver) override;
  void removeFromSolverImpl(mc_solver::QPSolver & solver) override;
  mc_rtc::void_ptr constraint_;
};
 
} // namespace mc_solver