#include "pinocchio/algorithm/contact-info.hpp"#include "pinocchio/algorithm/proximal.hpp"#include "pinocchio/algorithm/constrained-dynamics.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ConstraintModelAllocator , class ConstraintDataAllocator > | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & | pinocchio::constraintDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas) |
| Computes the forward dynamics with contact constraints according to a given list of Contact information. When using forwardDynamics for the first time, you should call first initConstraintDynamics to initialize the internal memory used in the algorithm. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ConstraintModelAllocator , class ConstraintDataAllocator > | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & | pinocchio::constraintDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas, ProximalSettingsTpl< Scalar > &settings) |
| Computes the forward dynamics with contact constraints according to a given list of Contact information. When using forwardDynamics for the first time, you should call first initConstraintDynamics to initialize the internal memory used in the algorithm. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ModelAllocator , class DataAllocator > | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & | pinocchio::contactABA (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data) |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class Allocator > | |
| void | pinocchio::initConstraintDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models) |
| Init the forward dynamics data according to the contact information contained in contact_models. More... | |