constrained-dynamics-derivatives.hpp File Reference

#include "pinocchio/algorithm/contact-info.hpp"
#include "pinocchio/algorithm/proximal.hpp"
#include "pinocchio/algorithm/constrained-dynamics-derivatives.hxx"

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Namespaces
	pinocchio
	Main pinocchio namespace.

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator >
void	pinocchio::computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 , typename MatrixType4 , typename MatrixType5 , typename MatrixType6 >
void	pinocchio::computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType1 > &ddq_partial_dq, const Eigen::MatrixBase< MatrixType2 > &ddq_partial_dv, const Eigen::MatrixBase< MatrixType3 > &ddq_partial_dtau, const Eigen::MatrixBase< MatrixType4 > &lambda_partial_dq, const Eigen::MatrixBase< MatrixType5 > &lambda_partial_dv, const Eigen::MatrixBase< MatrixType6 > &lambda_partial_dtau)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator >
void	pinocchio::computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const ProximalSettingsTpl< Scalar > &settings)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 , typename MatrixType4 , typename MatrixType5 , typename MatrixType6 >
void	pinocchio::computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const ProximalSettingsTpl< Scalar > &settings, const Eigen::MatrixBase< MatrixType1 > &ddq_partial_dq, const Eigen::MatrixBase< MatrixType2 > &ddq_partial_dv, const Eigen::MatrixBase< MatrixType3 > &ddq_partial_dtau, const Eigen::MatrixBase< MatrixType4 > &lambda_partial_dq, const Eigen::MatrixBase< MatrixType5 > &lambda_partial_dv, const Eigen::MatrixBase< MatrixType6 > &lambda_partial_dtau)