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6 #ifndef __pinocchio_algorithm_contact_delassus_hpp__
7 #define __pinocchio_algorithm_contact_delassus_hpp__
17 template<
typename,
int>
18 class JointCollectionTpl,
47 template<typename,
int>
48 class JointCollectionTpl,
49 typename ConfigVectorType,
57 const
Eigen::MatrixBase<ConfigVectorType> &
q,
60 const
Eigen::MatrixBase<MatrixType> & delassus,
89 template<typename,
int>
90 class JointCollectionTpl,
91 typename ConfigVectorType,
99 const
Eigen::MatrixBase<ConfigVectorType> &
q,
102 const
Eigen::MatrixBase<MatrixType> & damped_delassus_inverse,
104 const
bool scaled = false,
105 const
bool Pv = true);
109 #include "pinocchio/algorithm/delassus.hxx"
111 #endif // ifndef __pinocchio_algorithm_contact_delassus_hpp__
void computeDampedDelassusMatrixInverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &damped_delassus_inverse, const Scalar mu, const bool scaled=false, const bool Pv=true)
Computes the inverse of the Delassus matrix associated to a set of given constraints.
void computeDelassusMatrix(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &delassus, const Scalar mu=0)
Computes the Delassus matrix associated to a set of given constraints.
struct PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") ContactCholeskyDecompositionTpl
Contact Cholesky decomposition structure. This structure allows to compute in a efficient and parsimo...
void initPvDelassus(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Tue Jun 25 2024 02:42:37