algorithm/contact-cholesky.hpp File Reference

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/math/matrix-block.hpp"
#include "pinocchio/math/triangular-matrix.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
#include "pinocchio/algorithm/delassus-operator-base.hpp"
#include "pinocchio/algorithm/contact-cholesky.hxx"

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Classes
struct	pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >
struct	pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >
struct	pinocchio::traits< DelassusCholeskyExpressionTpl< ContactCholeskyDecomposition > >
struct	pinocchio::details::UivAlgo< MatrixLike, ColsAtCompileTime >
struct	pinocchio::details::UtivAlgo< MatrixLike, ColsAtCompileTime >
struct	pinocchio::details::UtvAlgo< MatrixLike, ColsAtCompileTime >
struct	pinocchio::details::UvAlgo< MatrixLike, ColsAtCompileTime >

Namespaces
	pinocchio
	Main pinocchio namespace.
	pinocchio::details

Functions
template<typename Scalar , int Options, typename VectorLike >
VectorLike &	pinocchio::details::inverseAlgo (const ContactCholeskyDecompositionTpl< Scalar, Options > &chol, const Eigen::DenseIndex col, const Eigen::MatrixBase< VectorLike > &vec)
template<typename _Scalar , int _Options>
struct	pinocchio::PINOCCHIO_UNSUPPORTED_MESSAGE ("The API will change towards more flexibility") ContactCholeskyDecompositionTpl
	Contact Cholesky decomposition structure. This structure allows to compute in a efficient and parsimonious way the Cholesky decomposition of the KKT matrix related to the contact dynamics. Such a decomposition is usefull when computing both the forward dynamics in contact or the related analytical derivatives. More...
template<typename _Scalar , int _Options>
struct	pinocchio::PINOCCHIO_UNSUPPORTED_MESSAGE ("The API will change towards more flexibility") ContactCholeskyDecompositionTpl
	Contact Cholesky decomposition structure. This structure allows to compute in a efficient and parsimonious way the Cholesky decomposition of the KKT matrix related to the contact dynamics. Such a decomposition is usefull when computing both the forward dynamics in contact or the related analytical derivatives. More...