#include "pinocchio/algorithm/constrained-dynamics.hpp"#include "pinocchio/algorithm/contact-info.hpp"#include "pinocchio/algorithm/proximal.hpp"#include "pinocchio/algorithm/impulse-dynamics.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , class ConstraintModelAllocator , class ConstraintDataAllocator > | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & | pinocchio::impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v_before, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas, const Scalar r_coeff, const ProximalSettingsTpl< Scalar > &settings) |
| Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called. More... | |