6 #ifndef __pinocchio_algorithm_pv_hpp__
7 #define __pinocchio_algorithm_pv_hpp__
30 template<
typename,
int>
31 class JointCollectionTpl,
68 template<typename,
int>
69 class JointCollectionTpl,
70 typename ConfigVectorType,
71 typename TangentVectorType1,
72 typename TangentVectorType2,
73 class ContactModelAllocator,
74 class ContactDataAllocator>
76 inline const typename DataTpl<
Scalar,
Options, JointCollectionTpl>::TangentVectorType &
pv(
79 const
Eigen::MatrixBase<ConfigVectorType> &
q,
80 const
Eigen::MatrixBase<TangentVectorType1> &
v,
81 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
82 const
std::vector<RigidConstraintModelTpl<
Scalar,
Options>, ContactModelAllocator> &
85 ProximalSettingsTpl<
Scalar> & settings);
117 template<typename,
int>
118 class JointCollectionTpl,
119 typename ConfigVectorType,
120 typename TangentVectorType1,
121 typename TangentVectorType2,
122 class ContactModelAllocator,
123 class ContactDataAllocator>
129 const
Eigen::MatrixBase<ConfigVectorType> &
q,
130 const
Eigen::MatrixBase<TangentVectorType1> &
v,
131 const
Eigen::MatrixBase<TangentVectorType2> &
tau,
132 const
std::vector<RigidConstraintModelTpl<
Scalar,
Options>, ContactModelAllocator> &
135 ProximalSettingsTpl<
Scalar> & settings);
140 #include "pinocchio/algorithm/pv.hxx"
142 #endif // ifndef __pinocchio_algorithm_pv_hpp__