contact-jacobian.cpp

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//
// Copyright (c) 2022 INRIA
//
 
#include "pinocchio/spatial/fwd.hpp"
 
#ifndef PINOCCHIO_SKIP_ALGORITHM_CONTACT_JACOBIAN
 
  #include "pinocchio/algorithm/contact-jacobian.hpp"
 
namespace pinocchio
{
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getConstraintJacobian<
    context::Scalar,
    context::Options,
    JointCollectionDefaultTpl,
    context::MatrixXs>(
    const context::Model &,
    const context::Data &,
    const context::RigidConstraintModel &,
    context::RigidConstraintData &,
    const Eigen::MatrixBase<context::MatrixXs> &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getConstraintsJacobian<
    context::Scalar,
    context::Options,
    JointCollectionDefaultTpl,
    context::MatrixXs,
    typename context::RigidConstraintModelVector::allocator_type,
    typename context::RigidConstraintDataVector::allocator_type>(
    const context::Model &,
    const context::Data &,
    const context::RigidConstraintModelVector &,
    context::RigidConstraintDataVector &,
    const Eigen::MatrixBase<context::MatrixXs> &);
 
} // namespace pinocchio
 
#endif // PINOCCHIO_SKIP_ALGORITHM_CONTACT_JACOBIAN