5 #ifndef __pinocchio_algorithm_constrained_dynamics_hpp__
6 #define __pinocchio_algorithm_constrained_dynamics_hpp__
32 template<
typename,
int>
33 class JointCollectionTpl,
81 template<typename,
int>
82 class JointCollectionTpl,
83 typename ConfigVectorType,
84 typename TangentVectorType1,
85 typename TangentVectorType2,
86 class ConstraintModelAllocator,
87 class ConstraintDataAllocator>
93 const
Eigen::MatrixBase<ConfigVectorType> &
q,
94 const
Eigen::MatrixBase<TangentVectorType1> &
v,
95 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
96 const
std::vector<RigidConstraintModelTpl<
Scalar,
Options>, ConstraintModelAllocator> &
99 ProximalSettingsTpl<
Scalar> & settings);
138 template<typename,
int>
139 class JointCollectionTpl,
140 typename ConfigVectorType,
141 typename TangentVectorType1,
142 typename TangentVectorType2,
143 class ConstraintModelAllocator,
144 class ConstraintDataAllocator>
150 const
Eigen::MatrixBase<ConfigVectorType> &
q,
151 const
Eigen::MatrixBase<TangentVectorType1> &
v,
152 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
164 template<
typename,
int>
165 class JointCollectionTpl,
166 typename ConfigVectorType,
167 typename TangentVectorType1,
168 typename TangentVectorType2,
169 class ModelAllocator,
176 const
Eigen::MatrixBase<ConfigVectorType> &
q,
177 const
Eigen::MatrixBase<TangentVectorType1> &
v,
178 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
189 #include "pinocchio/algorithm/constrained-dynamics.hxx"
191 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
192 #include "pinocchio/algorithm/constrained-dynamics.txx"
193 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
195 #endif // ifndef __pinocchio_algorithm_constrained_dynamics_hpp__