Template Function pinocchio::computeConstraintDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator>&, const ProximalSettingsTpl<Scalar>&, const Eigen::MatrixBase<MatrixType1>&, const Eigen::MatrixBase<MatrixType2>&, const Eigen::MatrixBase<MatrixType3>&, const Eigen::MatrixBase<MatrixType4>&, const Eigen::MatrixBase<MatrixType5>&, const Eigen::MatrixBase<MatrixType6>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename MatrixType1, typename MatrixType2, typename MatrixType3, typename MatrixType4, typename MatrixType5, typename MatrixType6>
inline void pinocchio::computeConstraintDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &contact_models, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> &contact_data, const ProximalSettingsTpl<Scalar> &settings, const Eigen::MatrixBase<MatrixType1> &ddq_partial_dq, const Eigen::MatrixBase<MatrixType2> &ddq_partial_dv, const Eigen::MatrixBase<MatrixType3> &ddq_partial_dtau, const Eigen::MatrixBase<MatrixType4> &lambda_partial_dq, const Eigen::MatrixBase<MatrixType5> &lambda_partial_dv, const Eigen::MatrixBase<MatrixType6> &lambda_partial_dtau)