src/algorithm/constrained-dynamics.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
8 
9  #include "pinocchio/algorithm/constrained-dynamics.hpp"
10 
11 namespace pinocchio
12 {
13 
14  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void initConstraintDynamics<
15  context::Scalar,
16  context::Options,
17  JointCollectionDefaultTpl,
18  typename context::RigidConstraintModelVector::allocator_type>(
19  const context::Model &, context::Data &, const context::RigidConstraintModelVector &);
20 
21  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs &
22  constraintDynamics<
23  context::Scalar,
24  context::Options,
25  JointCollectionDefaultTpl,
26  context::VectorXs,
27  context::VectorXs,
28  context::VectorXs,
29  typename context::RigidConstraintModelVector::allocator_type,
30  typename context::RigidConstraintDataVector::allocator_type>(
31  const context::Model &,
32  context::Data &,
33  const Eigen::MatrixBase<context::VectorXs> &,
34  const Eigen::MatrixBase<context::VectorXs> &,
35  const Eigen::MatrixBase<context::VectorXs> &,
36  const context::RigidConstraintModelVector &,
37  context::RigidConstraintDataVector &,
38  ProximalSettingsTpl<context::Scalar> &);
39 
40  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs &
41  constraintDynamics<
42  context::Scalar,
43  context::Options,
44  JointCollectionDefaultTpl,
45  context::VectorXs,
46  context::VectorXs,
47  context::VectorXs,
48  typename context::RigidConstraintModelVector::allocator_type,
49  typename context::RigidConstraintDataVector::allocator_type>(
50  const context::Model &,
51  context::Data &,
52  const Eigen::MatrixBase<context::VectorXs> &,
53  const Eigen::MatrixBase<context::VectorXs> &,
54  const Eigen::MatrixBase<context::VectorXs> &,
55  const context::RigidConstraintModelVector &,
56  context::RigidConstraintDataVector &);
57 
58  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs & contactABA<
59  context::Scalar,
60  context::Options,
61  JointCollectionDefaultTpl,
62  context::VectorXs,
63  context::VectorXs,
64  context::VectorXs,
65  typename context::RigidConstraintModelVector::allocator_type,
66  typename context::RigidConstraintDataVector::allocator_type>(
67  const context::Model &,
68  context::Data &,
69  const Eigen::MatrixBase<context::VectorXs> &,
70  const Eigen::MatrixBase<context::VectorXs> &,
71  const Eigen::MatrixBase<context::VectorXs> &,
72  const context::RigidConstraintModelVector &,
73  context::RigidConstraintDataVector &);
74 } // namespace pinocchio
75 
76 #endif // PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
fwd.hpp
Data
Model::Data Data
Definition: timings-cppad-jit.cpp:49
pinocchio::python::VectorXs
context::VectorXs VectorXs
Definition: admm-solver.cpp:30
pinocchio::initConstraintDynamics
void initConstraintDynamics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
Init the forward dynamics data according to the contact information contained in contact_models.
pinocchio::context::Options
@ Options
Definition: context/generic.hpp:82
pinocchio::contactABA
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & contactABA(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data)
Definition: constrained-dynamics.hpp:172
Model
pinocchio::ModelTpl< Scalar > Model
Definition: timings-cppad-jit.cpp:48
constrained-dynamics.hpp
pinocchio::constraintDynamics
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & constraintDynamics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas, ProximalSettingsTpl< Scalar > &settings)
Computes the forward dynamics with contact constraints according to a given list of contact informati...
pinocchio::context::Scalar
PINOCCHIO_SCALAR_TYPE Scalar
Definition: context/generic.hpp:79
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:33

pinocchio
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autogenerated on Wed May 28 2025 02:41:16