File contact-dynamics.hxx

↰ Parent directory (include/pinocchio/algorithm)

Definition (include/pinocchio/algorithm/contact-dynamics.hxx)

• Program Listing for File contact-dynamics.hxx

Includes

• Eigen/Cholesky

• pinocchio/algorithm/check.hpp (File check.hpp)

• pinocchio/algorithm/cholesky.hpp (File cholesky.hpp)

• pinocchio/algorithm/compute-all-terms.hpp (File compute-all-terms.hpp)

• pinocchio/algorithm/crba.hpp (File crba.hpp)

• pinocchio/math/matrix.hpp (File matrix.hpp)

Namespaces

• Namespace pinocchio

• Namespace pinocchio::internal

Classes

• Template Struct PerformCholeskyCompute

• Template Struct PerformCholeskyCompute< Scalar, false >

• Template Struct PerformCholeskySolveInPlace

• Template Struct PerformCholeskySolveInPlace< Scalar, false >

Functions

• Template Function pinocchio::computeKKTContactDynamicMatrixInverse

• Template Function pinocchio::forwardDynamics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&, const Eigen::MatrixBase<ConstraintMatrixType>&, const Eigen::MatrixBase<DriftVectorType>&, const Scalar)

• Template Function pinocchio::forwardDynamics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<TangentVectorType>&, const Eigen::MatrixBase<ConstraintMatrixType>&, const Eigen::MatrixBase<DriftVectorType>&, const Scalar)

• Template Function pinocchio::getKKTContactDynamicMatrixInverse(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConstraintMatrixType>&, const Eigen::MatrixBase<KKTMatrixType>&)

• Template Function pinocchio::impulseDynamics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType>&, const Eigen::MatrixBase<ConstraintMatrixType>&, const Scalar, const Scalar)

• Template Function pinocchio::impulseDynamics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<TangentVectorType>&, const Eigen::MatrixBase<ConstraintMatrixType>&, const Scalar, const Scalar)