5 #ifndef __pinocchio_algorithm_constrained_dynamics_derivatives_hpp__
6 #define __pinocchio_algorithm_constrained_dynamics_derivatives_hpp__
17 template<
typename,
int>
18 class JointCollectionTpl,
19 class ConstraintModelAllocator,
20 class ConstraintDataAllocator,
31 const
std::vector<RigidConstraintModelTpl<
Scalar,
Options>, ConstraintModelAllocator> &
34 const ProximalSettingsTpl<
Scalar> & settings,
35 const
Eigen::MatrixBase<MatrixType1> & ddq_partial_dq,
36 const
Eigen::MatrixBase<MatrixType2> & ddq_partial_dv,
37 const
Eigen::MatrixBase<MatrixType3> & ddq_partial_dtau,
38 const
Eigen::MatrixBase<MatrixType4> & lambda_partial_dq,
39 const
Eigen::MatrixBase<MatrixType5> & lambda_partial_dv,
40 const
Eigen::MatrixBase<MatrixType6> & lambda_partial_dtau);
45 template<typename,
int>
46 class JointCollectionTpl,
47 class ConstraintModelAllocator,
48 class ConstraintDataAllocator,
62 const
Eigen::MatrixBase<MatrixType1> & ddq_partial_dq,
63 const
Eigen::MatrixBase<MatrixType2> & ddq_partial_dv,
64 const
Eigen::MatrixBase<MatrixType3> & ddq_partial_dtau,
65 const
Eigen::MatrixBase<MatrixType4> & lambda_partial_dq,
66 const
Eigen::MatrixBase<MatrixType5> & lambda_partial_dv,
67 const
Eigen::MatrixBase<MatrixType6> & lambda_partial_dtau)
72 ddq_partial_dv.const_cast_derived(), ddq_partial_dtau.const_cast_derived(),
73 lambda_partial_dq.const_cast_derived(), lambda_partial_dv.const_cast_derived(),
74 lambda_partial_dtau.const_cast_derived());
80 template<
typename,
int>
81 class JointCollectionTpl,
82 class ConstraintModelAllocator,
83 class ConstraintDataAllocator>
101 template<
typename,
int>
102 class JointCollectionTpl,
103 class ConstraintModelAllocator,
104 class ConstraintDataAllocator>
119 #include "pinocchio/algorithm/constrained-dynamics-derivatives.hxx"
121 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
122 #include "pinocchio/algorithm/constrained-dynamics-derivatives.txx"
123 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
125 #endif // ifndef __pinocchio_algorithm_constrained_dynamics_derivatives_hpp__