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>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator>
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)