Template Function pinocchio::computeKKTContactDynamicMatrixInverse

• Defined in File contact-dynamics.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename ConstraintMatrixType, typename KKTMatrixType>
void pinocchio::computeKKTContactDynamicMatrixInverse(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<ConstraintMatrixType> &J, const Eigen::MatrixBase<KKTMatrixType> &KKTMatrix_inv, const Scalar &inv_damping = 0.)

Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix:

Parameters:

• model – [in] The model structure of the rigid body system.

• data – [in] The data structure of the rigid body system.

• J – [in] Jacobian of the constraints.

• KKTMatrix_inv – [out] inverse of the MJtJ matrix.

• inv_damping – [in] regularization coefficient.