pv.hpp

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//
// Copyright (c) 2023-2024 Inria
// Copyright (c) 2023 KU Leuven
//
 
#ifndef __pinocchio_algorithm_pv_hpp__
#define __pinocchio_algorithm_pv_hpp__
 
#include "pinocchio/algorithm/contact-info.hpp"
 
namespace pinocchio
{
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    class Allocator>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  inline void initPvSolver(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator> & contact_models);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType,
    typename TangentVectorType1,
    typename TangentVectorType2,
    class ContactModelAllocator,
    class ContactDataAllocator>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & pv(
    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 std::vector<RigidConstraintModelTpl<Scalar, Options>, ContactModelAllocator> &
      contact_models,
    std::vector<RigidConstraintDataTpl<Scalar, Options>, ContactDataAllocator> & contact_datas,
    ProximalSettingsTpl<Scalar> & settings);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType,
    typename TangentVectorType1,
    typename TangentVectorType2,
    class ContactModelAllocator,
    class ContactDataAllocator>
  PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
  inline const
    typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & constrainedABA(
      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 std::vector<RigidConstraintModelTpl<Scalar, Options>, ContactModelAllocator> &
        contact_models,
      std::vector<RigidConstraintDataTpl<Scalar, Options>, ContactDataAllocator> & contact_datas,
      ProximalSettingsTpl<Scalar> & settings);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/pv.hxx"
 
#endif // ifndef __pinocchio_algorithm_pv_hpp__