5 #ifndef __pinocchio_algorithm_constrained_dynamics_hpp__
6 #define __pinocchio_algorithm_constrained_dynamics_hpp__
32 template<
typename,
int>
33 class JointCollectionTpl,
83 template<typename,
int>
84 class JointCollectionTpl,
85 typename ConfigVectorType,
86 typename TangentVectorType1,
87 typename TangentVectorType2,
88 class ConstraintModelAllocator,
89 class ConstraintDataAllocator>
95 const
Eigen::MatrixBase<ConfigVectorType> &
q,
96 const
Eigen::MatrixBase<TangentVectorType1> &
v,
97 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
98 const
std::vector<RigidConstraintModelTpl<
Scalar,
Options>, ConstraintModelAllocator> &
101 ProximalSettingsTpl<
Scalar> & settings);
141 template<typename,
int>
142 class JointCollectionTpl,
143 typename ConfigVectorType,
144 typename TangentVectorType1,
145 typename TangentVectorType2,
146 class ConstraintModelAllocator,
147 class ConstraintDataAllocator>
153 const
Eigen::MatrixBase<ConfigVectorType> &
q,
154 const
Eigen::MatrixBase<TangentVectorType1> &
v,
155 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
167 template<
typename,
int>
168 class JointCollectionTpl,
169 typename ConfigVectorType,
170 typename TangentVectorType1,
171 typename TangentVectorType2,
172 class ModelAllocator,
179 const
Eigen::MatrixBase<ConfigVectorType> &
q,
180 const
Eigen::MatrixBase<TangentVectorType1> &
v,
181 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
192 #include "pinocchio/algorithm/constrained-dynamics.hxx"
194 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
195 #include "pinocchio/algorithm/constrained-dynamics.txx"
196 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
198 #endif // ifndef __pinocchio_algorithm_constrained_dynamics_hpp__