Template Struct ContactAndImpulseDynamicsBackwardStep

Inheritance Relationships

Base Type

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, bool ContactMode>
struct ContactAndImpulseDynamicsBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<ContactAndImpulseDynamicsBackwardStep<Scalar, Options, JointCollectionTpl, ContactMode>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, Data&> ArgsType

Public Static Functions

template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, Data &data)