#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
#include "pinocchio/algorithm/contact-jacobian.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/utils/timer.hpp"
#include "pinocchio/spatial/classic-acceleration.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

Include dependency graph for contact-models.cpp:

Functions
	BOOST_AUTO_TEST_CASE (contact_models)

	BOOST_AUTO_TEST_CASE (contact_models_sparsity_and_jacobians)

void	check_A1_and_A2 (const Model &model, const Data &data, const RigidConstraintModel &cmodel, RigidConstraintData &cdata)

template<typename T >
bool	within (const T &elt, const std::vector< T > &vec)

template<typename Matrix >
bool	within (const typename Matrix::Scalar &elt, const Eigen::MatrixBase< Matrix > &mat)

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/2]

BOOST_AUTO_TEST_CASE ( contact_models )

Definition at line 53 of file contact-models.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/2]

BOOST_AUTO_TEST_CASE ( contact_models_sparsity_and_jacobians )

Definition at line 125 of file contact-models.cpp.

◆ check_A1_and_A2()

void check_A1_and_A2	(	const Model &	model,
		const Data &	data,
		const RigidConstraintModel &	cmodel,
		RigidConstraintData &	cdata
	)

Definition at line 85 of file contact-models.cpp.

◆ within() [1/2]

template<typename T >

bool within	(	const T &	elt,
		const std::vector< T > &	vec
	)

Definition at line 27 of file contact-models.cpp.

◆ within() [2/2]

template<typename Matrix >

bool within	(	const typename Matrix::Scalar &	elt,
		const Eigen::MatrixBase< Matrix > &	mat
	)