src/algorithm/constrained-dynamics-derivatives.cpp
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #include "pinocchio/spatial/fwd.hpp"
6 
7 #ifndef PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS_DERIVATIVES
8 
9  #include "pinocchio/algorithm/constrained-dynamics-derivatives.hpp"
10 
11 namespace pinocchio
12 {
13 
14  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
15  computeConstraintDynamicsDerivatives<
16  context::Scalar,
17  context::Options,
18  JointCollectionDefaultTpl,
19  typename context::RigidConstraintModelVector::allocator_type,
20  typename context::RigidConstraintDataVector::allocator_type,
21  context::MatrixXs,
22  context::MatrixXs,
23  context::MatrixXs,
24  context::MatrixXs,
25  context::MatrixXs,
26  context::MatrixXs>(
27  const context::Model &,
28  context::Data &,
29  const context::RigidConstraintModelVector &,
30  context::RigidConstraintDataVector &,
31  const ProximalSettingsTpl<context::Scalar> &,
32  const Eigen::MatrixBase<context::MatrixXs> &,
33  const Eigen::MatrixBase<context::MatrixXs> &,
34  const Eigen::MatrixBase<context::MatrixXs> &,
35  const Eigen::MatrixBase<context::MatrixXs> &,
36  const Eigen::MatrixBase<context::MatrixXs> &,
37  const Eigen::MatrixBase<context::MatrixXs> &);
38 
39  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
40  computeConstraintDynamicsDerivatives<
41  context::Scalar,
42  context::Options,
43  JointCollectionDefaultTpl,
44  typename context::RigidConstraintModelVector::allocator_type,
45  typename context::RigidConstraintDataVector::allocator_type,
46  context::MatrixXs,
47  context::MatrixXs,
48  context::MatrixXs,
49  context::MatrixXs,
50  context::MatrixXs,
51  context::MatrixXs>(
52  const context::Model &,
53  context::Data &,
54  const context::RigidConstraintModelVector &,
55  context::RigidConstraintDataVector &,
56  const Eigen::MatrixBase<context::MatrixXs> &,
57  const Eigen::MatrixBase<context::MatrixXs> &,
58  const Eigen::MatrixBase<context::MatrixXs> &,
59  const Eigen::MatrixBase<context::MatrixXs> &,
60  const Eigen::MatrixBase<context::MatrixXs> &,
61  const Eigen::MatrixBase<context::MatrixXs> &);
62 
63  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
64  computeConstraintDynamicsDerivatives<
65  context::Scalar,
66  context::Options,
67  JointCollectionDefaultTpl,
68  typename context::RigidConstraintModelVector::allocator_type,
69  typename context::RigidConstraintDataVector::allocator_type>(
70  const context::Model &,
71  context::Data &,
72  const context::RigidConstraintModelVector &,
73  context::RigidConstraintDataVector &,
74  const ProximalSettingsTpl<context::Scalar> &);
75 
76  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
77  computeConstraintDynamicsDerivatives<
78  context::Scalar,
79  context::Options,
80  JointCollectionDefaultTpl,
81  typename context::RigidConstraintModelVector::allocator_type,
82  typename context::RigidConstraintDataVector::allocator_type>(
83  const context::Model &,
84  context::Data &,
85  const context::RigidConstraintModelVector &,
86  context::RigidConstraintDataVector &);
87 } // namespace pinocchio
88 
89 #endif // PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS_DERIVATIVES
fwd.hpp
pinocchio::computeConstraintDynamicsDerivatives
void computeConstraintDynamicsDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const ProximalSettingsTpl< Scalar > &settings, const Eigen::MatrixBase< MatrixType1 > &ddq_partial_dq, const Eigen::MatrixBase< MatrixType2 > &ddq_partial_dv, const Eigen::MatrixBase< MatrixType3 > &ddq_partial_dtau, const Eigen::MatrixBase< MatrixType4 > &lambda_partial_dq, const Eigen::MatrixBase< MatrixType5 > &lambda_partial_dv, const Eigen::MatrixBase< MatrixType6 > &lambda_partial_dtau)
Data
Model::Data Data
Definition: timings-cppad-jit.cpp:49
constrained-dynamics-derivatives.hpp
pinocchio::context::Options
@ Options
Definition: context/generic.hpp:82
Model
pinocchio::ModelTpl< Scalar > Model
Definition: timings-cppad-jit.cpp:48
pinocchio::context::Scalar
PINOCCHIO_SCALAR_TYPE Scalar
Definition: context/generic.hpp:79
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:33

pinocchio
Author(s):
autogenerated on Wed May 28 2025 02:41:16