pinocchio: contact-dynamics.cpp Source File

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 //
 // Copyright (c) 2022 INRIA
 //
  
 #include "pinocchio/spatial/fwd.hpp"
  
 #ifndef PINOCCHIO_SKIP_ALGORITHM_CONTACT_DYNAMICS
  
   #include "pinocchio/algorithm/contact-dynamics.hpp"
  
 namespace pinocchio
 {
  
   template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
   computeKKTContactDynamicMatrixInverse<
     context::Scalar,
     context::Options,
     JointCollectionDefaultTpl,
     context::VectorXs,
     context::MatrixXs,
     context::MatrixXs>(
     const context::Model &,
     context::Data &,
     const Eigen::MatrixBase<context::VectorXs> &,
     const Eigen::MatrixBase<context::MatrixXs> &,
     const Eigen::MatrixBase<context::MatrixXs> &,
     const context::Scalar &);
  
 } // namespace pinocchio
  
 #endif // PINOCCHIO_SKIP_ALGORITHM_CONTACT_DYNAMICS

pinocchio::computeKKTContactDynamicMatrixInverse

void computeKKTContactDynamicMatrixInverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv, const Scalar &inv_damping=0.)

Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the followi...