Template Struct ContactABABackwardStep1
Defined in File constrained-dynamics.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< ContactABABackwardStep1< Scalar, Options, JointCollectionTpl, TangentVectorType > >
(Template Struct JointUnaryVisitorBase)
Struct Documentation
-
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename TangentVectorType>
struct ContactABABackwardStep1 : public pinocchio::fusion::JointUnaryVisitorBase<ContactABABackwardStep1<Scalar, Options, JointCollectionTpl, TangentVectorType>> Public Types
-
typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
-
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
-
typedef boost::fusion::vector<const Model&, Data&, const TangentVectorType&> ArgsType
Public Static Functions
-
template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, JointDataBase<typename JointModel::JointDataDerived> &jdata, const Model &model, Data &data, const Eigen::MatrixBase<TangentVectorType> &tau)
-
typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model