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<div class="textblock"><code>#include &lt;vector&gt;</code><br />
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<code>#include &quot;<a class="el" href="multibody__plant_8h.html">drake/multibody/plant/multibody_plant.h</a>&quot;</code><br />
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<tr class="memitem:a2b475a845f1e7eed70697af7a34868f8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; solvers::Binding&lt; solvers::Constraint &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacedrake_1_1multibody.html#a2b475a845f1e7eed70697af7a34868f8">AddMultibodyPlantConstraints</a> (const MultibodyPlant&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;plant, const solvers::VectorXDecisionVariable &amp;q, solvers::MathematicalProgram *prog, systems::Context&lt; <a class="el" href="classdouble.html">double</a> &gt; *plant_context=nullptr)</td></tr>
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<tr class="memdesc:a2b475a845f1e7eed70697af7a34868f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">For unit quaternion and (holonomic) constraints registered with <code>plant</code> adds a corresponding solver::Constraint to <code>prog</code>, using decision variables <code>q</code> to represent the generalized positions of the plant. <a href="namespacedrake_1_1multibody.html#a2b475a845f1e7eed70697af7a34868f8">More...</a><br /></td></tr>
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