delassus.hpp

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//
// Copyright (c) 2020-2024 INRIA
// Copyright (c) 2023 KU Leuven
//
 
#ifndef __pinocchio_algorithm_contact_delassus_hpp__
#define __pinocchio_algorithm_contact_delassus_hpp__
 
#include "pinocchio/algorithm/contact-info.hpp"
 
namespace pinocchio
{
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    class Allocator>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  inline void initPvDelassus(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator> & contact_models);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename ConfigVectorType,
    class ModelAllocator,
    class DataAllocator,
    typename MatrixType>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  void computeDelassusMatrix(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<ConfigVectorType> & q,
    const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator> & contact_models,
    std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator> & contact_data,
    const Eigen::MatrixBase<MatrixType> & delassus,
    const Scalar mu = 0);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename ConfigVectorType,
    class ModelAllocator,
    class DataAllocator,
    typename MatrixType>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  void computeDampedDelassusMatrixInverse(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<ConfigVectorType> & q,
    const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator> & contact_models,
    std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator> & contact_data,
    const Eigen::MatrixBase<MatrixType> & damped_delassus_inverse,
    const Scalar mu,
    const bool scaled = false,
    const bool Pv = true);
 
} // namespace pinocchio
 
#include "pinocchio/algorithm/delassus.hxx"
 
#endif // ifndef __pinocchio_algorithm_contact_delassus_hpp__