Include dependency graph for delassus.hpp:
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , class ModelAllocator , class DataAllocator , typename MatrixType > | |
| void | pinocchio::computeDampedDelassusMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &damped_delassus_inverse, const Scalar mu, const bool scaled=false, const bool Pv=true) |
| Computes the inverse of the Delassus matrix associated to a set of given constraints. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , class ModelAllocator , class DataAllocator , typename MatrixType > | |
| void | pinocchio::computeDelassusMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &delassus, const Scalar mu=0) |
| Computes the Delassus matrix associated to a set of given constraints. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class Allocator > | |
| void | pinocchio::initPvDelassus (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models) |