#include "pinocchio/algorithm/jacobian.hpp"#include "pinocchio/algorithm/rnea.hpp"#include "pinocchio/algorithm/rnea-derivatives.hpp"#include "pinocchio/algorithm/kinematics-derivatives.hpp"#include "pinocchio/algorithm/contact-dynamics.hpp"#include "pinocchio/algorithm/joint-configuration.hpp"#include "pinocchio/parsers/sample-models.hpp"#include <iostream>#include <boost/test/unit_test.hpp>#include <boost/utility/binary.hpp>
Include dependency graph for contact-dynamics-derivatives.cpp:
Go to the source code of this file.
Functions | |
| BOOST_AUTO_TEST_CASE (test_FD_with_contact_cst_gamma) | |
| BOOST_AUTO_TEST_CASE (test_FD_with_contact_varying_gamma) | |
| template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 > | |
| VectorXd | contactDynamics (const Model &model, Data &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const Model::JointIndex id) |
Function Documentation
◆ BOOST_AUTO_TEST_CASE() [1/2]
| BOOST_AUTO_TEST_CASE | ( | test_FD_with_contact_cst_gamma | ) |
Definition at line 23 of file contact-dynamics-derivatives.cpp.
◆ BOOST_AUTO_TEST_CASE() [2/2]
| BOOST_AUTO_TEST_CASE | ( | test_FD_with_contact_varying_gamma | ) |
Definition at line 185 of file contact-dynamics-derivatives.cpp.
◆ contactDynamics()
template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
| VectorXd contactDynamics | ( | const Model & | model, |
| Data & | data, | ||
| const Eigen::MatrixBase< ConfigVectorType > & | q, | ||
| const Eigen::MatrixBase< TangentVectorType1 > & | v, | ||
| const Eigen::MatrixBase< TangentVectorType2 > & | tau, | ||
| const Model::JointIndex | id | ||
| ) |
Definition at line 162 of file contact-dynamics-derivatives.cpp.