A constraint that can be updated using the state of the rigid body system . More...

A constraint that can be updated using the state of the rigid body system .

Valid Expressions (which must be implemented)
template <typename ScalarType> updateConstraint(const KinematicCache<ScalarType>& kinsol)	Updates the parameters of the constraint
Eigen::MatrixXd constraintForceJacobian()	returns the J used in J^T force for any constraint forces implied
size_t getNumConstraintForces()