Template Function pinocchio::initPvDelassus

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, class Allocator>
inline void pinocchio::initPvDelassus(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator> &contact_models)