#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/centroidal.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
#include "pinocchio/algorithm/compute-all-terms.hpp"
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/contact-dynamics.hpp"
#include "pinocchio/algorithm/contact-inverse-dynamics.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/multibody/sample-models.hpp"
#include "pinocchio/utils/timer.hpp"
#include "pinocchio/spatial/classic-acceleration.hpp"
#include <iostream>
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include <optional>

Include dependency graph for contact-inverse-dynamics.cpp:

Macros
#define	KD 10

#define	KP 10

Functions
	BOOST_AUTO_TEST_CASE (test_contact_inverse_dynamics_3D)

pinocchio::Motion	computeAcceleration (const pinocchio::Model &model, pinocchio::Data &data, const pinocchio::JointIndex &joint_id, pinocchio::ReferenceFrame reference_frame, const pinocchio::ContactType type, const pinocchio::SE3 &placement=pinocchio::SE3::Identity())
	Computes motions in the world frame. More...

Macro Definition Documentation

◆ KD

#define KD 10

Definition at line 28 of file contact-inverse-dynamics.cpp.

◆ KP

#define KP 10

Definition at line 27 of file contact-inverse-dynamics.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE()

BOOST_AUTO_TEST_CASE ( test_contact_inverse_dynamics_3D )

Definition at line 82 of file contact-inverse-dynamics.cpp.

◆ computeAcceleration()

pinocchio::Motion computeAcceleration	(	const pinocchio::Model &	model,
		pinocchio::Data &	data,
		const pinocchio::JointIndex &	joint_id,
		pinocchio::ReferenceFrame	reference_frame,
		const pinocchio::ContactType	type,
		const pinocchio::SE3 &	placement = `pinocchio::SE3::Identity()`
	)

Computes motions in the world frame.

Definition at line 33 of file contact-inverse-dynamics.cpp.