- Member pinocchio::forwardDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
- This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and constraintDynamics(model, data, q, v, tau, contact_models, contact_datas[,prox_settings]) instead.
- Member pinocchio::forwardDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
- This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and constraintDynamics(model, data, q, v, tau, contact_models, contact_datas[,prox_settings]) instead.
- Member pinocchio::FrameTpl< _Scalar, _Options >::parent
- use parentJoint instead
- Member pinocchio::FrameTpl< _Scalar, _Options >::previousFrame
- use parentFrame instead
- Member pinocchio::GeometryObject::GeometryObject (const std::string &name, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())
- This constructor is now deprecated, and its argument order has been changed.
- Member pinocchio::GeometryObject::GeometryObject (const std::string &name, const FrameIndex parent_frame, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())
- This constructor is now deprecated, and its argument order has been changed.
- Member pinocchio::getKKTContactDynamicMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv)
- forwardDynamics/impuseDynamics is deprecated, and this function signature needs forwardDynamics to be called before. Please use the inverse() function in ContactCholeskyDecomposition class instead. It computes the following matrix:
- Member pinocchio::impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
- This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and impulseDynamics(model, data, q, v_before, contact_models, contact_datas[,r_coeff, mu]) instead.
- Member pinocchio::impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
- This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and impulseDynamics(model, data, q, v_before, contact_models, contact_datas[,r_coeff, mu]) instead.
pinocchio
Author(s):
autogenerated on Thu Dec 19 2024 03:41:34