contact-jacobian.hpp

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//
// Copyright (c) 2021 INRIA
//
 
#ifndef __pinocchio_algorithm_contact_jacobian_hpp__
#define __pinocchio_algorithm_contact_jacobian_hpp__
 
#include "pinocchio/algorithm/contact-info.hpp"
 
namespace pinocchio
{
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename Matrix6Like>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  void getConstraintJacobian(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const RigidConstraintModelTpl<Scalar, Options> & constraint_model,
    RigidConstraintDataTpl<Scalar, Options> & constraint_data,
    const Eigen::MatrixBase<Matrix6Like> & J);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename DynamicMatrixLike,
    class ConstraintModelAllocator,
    class ConstraintDataAllocator>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  void getConstraintsJacobian(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintDataAllocator> &
      constraint_model,
    std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & constraint_data,
    const Eigen::MatrixBase<DynamicMatrixLike> & J);
 
} // namespace pinocchio
 
#include "pinocchio/algorithm/contact-jacobian.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/contact-jacobian.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_algorithm_contact_jacobian_hpp__