impulse-dynamics.hpp

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//
// Copyright (c) 2020 CNRS INRIA
//
 
#ifndef __pinocchio_algorithm_impulse_dynamics_hpp__
#define __pinocchio_algorithm_impulse_dynamics_hpp__
 
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
 
#include "pinocchio/algorithm/proximal.hpp"
 
namespace pinocchio
{
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType,
    typename TangentVectorType1,
    class ConstraintModelAllocator,
    class ConstraintDataAllocator>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & impulseDynamics(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<ConfigVectorType> & q,
    const Eigen::MatrixBase<TangentVectorType1> & v_before,
    const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &
      contact_models,
    std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_datas,
    const Scalar r_coeff,
    const ProximalSettingsTpl<Scalar> & settings);
 
} // namespace pinocchio
 
#include "pinocchio/algorithm/impulse-dynamics.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/impulse-dynamics.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_algorithm_impulse_dynamics_hpp__