contact-dynamics.hpp
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1 //
2 // Copyright (c) 2016-2020 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_contact_dynamics_hpp__
6 #define __pinocchio_algorithm_contact_dynamics_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 
11 namespace pinocchio
12 {
13 
38 
55  template<
56  typename Scalar,
57  int Options,
58  template<typename, int>
59  class JointCollectionTpl,
60  typename ConfigVectorType,
61  typename TangentVectorType1,
62  typename TangentVectorType2,
63  typename ConstraintMatrixType,
64  typename DriftVectorType>
65  PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
66  TangentVectorType &
67  forwardDynamics(
68  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
69  DataTpl<Scalar, Options, JointCollectionTpl> & data,
70  const Eigen::MatrixBase<ConfigVectorType> & q,
71  const Eigen::MatrixBase<TangentVectorType1> & v,
72  const Eigen::MatrixBase<TangentVectorType2> & tau,
73  const Eigen::MatrixBase<ConstraintMatrixType> & J,
74  const Eigen::MatrixBase<DriftVectorType> & gamma,
75  const Scalar inv_damping = 0.);
76 
84 
102 
118  template<
119  typename Scalar,
120  int Options,
121  template<typename, int>
122  class JointCollectionTpl,
123  typename TangentVectorType,
124  typename ConstraintMatrixType,
125  typename DriftVectorType>
126  PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
127  TangentVectorType &
128  forwardDynamics(
129  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
130  DataTpl<Scalar, Options, JointCollectionTpl> & data,
131  const Eigen::MatrixBase<TangentVectorType> & tau,
132  const Eigen::MatrixBase<ConstraintMatrixType> & J,
133  const Eigen::MatrixBase<DriftVectorType> & gamma,
134  const Scalar inv_damping = 0.);
135 
151  template<
152  typename Scalar,
153  int Options,
154  template<typename, int>
155  class JointCollectionTpl,
156  typename ConfigVectorType,
157  typename ConstraintMatrixType,
158  typename KKTMatrixType>
159  void computeKKTContactDynamicMatrixInverse(
160  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
161  DataTpl<Scalar, Options, JointCollectionTpl> & data,
162  const Eigen::MatrixBase<ConfigVectorType> & q,
163  const Eigen::MatrixBase<ConstraintMatrixType> & J,
164  const Eigen::MatrixBase<KKTMatrixType> & KKTMatrix_inv,
165  const Scalar & inv_damping = 0.);
166 
189  template<
190  typename Scalar,
191  int Options,
192  template<typename, int>
193  class JointCollectionTpl,
194  typename ConstraintMatrixType,
195  typename KKTMatrixType>
196  PINOCCHIO_DEPRECATED void getKKTContactDynamicMatrixInverse(
197  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
198  const DataTpl<Scalar, Options, JointCollectionTpl> & data,
199  const Eigen::MatrixBase<ConstraintMatrixType> & J,
200  const Eigen::MatrixBase<KKTMatrixType> & KKTMatrix_inv);
201 
236  template<
237  typename Scalar,
238  int Options,
239  template<typename, int>
240  class JointCollectionTpl,
241  typename ConfigVectorType,
242  typename TangentVectorType,
243  typename ConstraintMatrixType>
244  PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
245  TangentVectorType &
246  impulseDynamics(
247  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
248  DataTpl<Scalar, Options, JointCollectionTpl> & data,
249  const Eigen::MatrixBase<ConfigVectorType> & q,
250  const Eigen::MatrixBase<TangentVectorType> & v_before,
251  const Eigen::MatrixBase<ConstraintMatrixType> & J,
252  const Scalar r_coeff = 0.,
253  const Scalar inv_damping = 0.);
254 
288  template<
289  typename Scalar,
290  int Options,
291  template<typename, int>
292  class JointCollectionTpl,
293  typename ConfigVectorType,
294  typename TangentVectorType,
295  typename ConstraintMatrixType>
296  PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
297  TangentVectorType &
298  impulseDynamics(
299  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
300  DataTpl<Scalar, Options, JointCollectionTpl> & data,
301  const Eigen::MatrixBase<TangentVectorType> & v_before,
302  const Eigen::MatrixBase<ConstraintMatrixType> & J,
303  const Scalar r_coeff = 0.,
304  const Scalar inv_damping = 0.);
305 
306 } // namespace pinocchio
307 
308 #include "pinocchio/algorithm/contact-dynamics.hxx"
309 
310 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
311  #include "pinocchio/algorithm/contact-dynamics.txx"
312 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
313 
314 #endif // ifndef __pinocchio_algorithm_contact_dynamics_hpp__
pinocchio::getKKTContactDynamicMatrixInverse
PINOCCHIO_DEPRECATED void getKKTContactDynamicMatrixInverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv)
Computes the inverse of the KKT matrix for dynamics with contact constraints.
pinocchio::Options
Options
Definition: joint-configuration.hpp:1116
inverse-kinematics.J
J
Definition: inverse-kinematics.py:31
model.hpp
setup.data
data
Definition: cmake/cython/setup.in.py:48
pinocchio::python::Scalar
context::Scalar Scalar
Definition: admm-solver.cpp:29
pinocchio::computeKKTContactDynamicMatrixInverse
void computeKKTContactDynamicMatrixInverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv, const Scalar &inv_damping=0.)
Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the followi...
bindings_dynamics.r_coeff
float r_coeff
Definition: bindings_dynamics.py:11
forward-dynamics-derivatives.tau
tau
Definition: forward-dynamics-derivatives.py:23
pinocchio::forwardDynamics
const PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & forwardDynamics(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 Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
Compute the forward dynamics with contact constraints. Internally, pinocchio::computeAllTerms is call...
data.hpp
bindings_dynamics.inv_damping
float inv_damping
Definition: bindings_dynamics.py:12
pinocchio::q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
Definition: joint-configuration.hpp:1117
pinocchio::v
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
Definition: joint-configuration.hpp:1118
pinocchio::impulseDynamics
const PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & impulseDynamics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called.
pinocchio::model
JointCollectionTpl & model
Definition: joint-configuration.hpp:1116
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27

pinocchio
Author(s):
autogenerated on Tue Jun 25 2024 02:42:36