algorithm/contact-info.hpp File Reference

#include <algorithm>
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/fwd.hpp"
#include "pinocchio/algorithm/constraints/fwd.hpp"
#include "pinocchio/algorithm/constraints/constraint-model-base.hpp"
#include "pinocchio/algorithm/constraints/constraint-data-base.hpp"

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Classes
struct	pinocchio::BaumgarteCorrectorParametersTpl< _Scalar >
struct	pinocchio::BaumgarteCorrectorParametersTpl< _Scalar >
struct	pinocchio::CastType< NewScalar, RigidConstraintModelTpl< Scalar, Options > >
struct	pinocchio::contact_dim< contact_type >
struct	pinocchio::contact_dim< CONTACT_3D >
struct	pinocchio::contact_dim< CONTACT_6D >
struct	pinocchio::traits< BaumgarteCorrectorParametersTpl< _Scalar > >
struct	pinocchio::traits< RigidConstraintDataTpl< _Scalar, _Options > >
struct	pinocchio::traits< RigidConstraintModelTpl< _Scalar, _Options > >

Namespaces
	pinocchio
	Main pinocchio namespace.

Macros
#define	PINOCCHIO_INTERNAL_COMPUTATION(axis_id, v3_in, res)
#define	PINOCCHIO_INTERNAL_COMPUTATION(axis_id, v3_in, res)

Enumerations
enum	pinocchio::ContactType { pinocchio::CONTACT_3D = 0, pinocchio::CONTACT_6D, pinocchio::CONTACT_UNDEFINED }
	More...

Functions
template<typename Scalar , int Options, class Allocator >
struct PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") RigidConstraintModelTpl size_t	pinocchio::getTotalConstraintSize (const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
	Contact model structure containg all the info describing the rigid contact model. More...

Macro Definition Documentation

PINOCCHIO_INTERNAL_COMPUTATION [1/2]

#define PINOCCHIO_INTERNAL_COMPUTATION	(		axis_id,
			v3_in,
			res
	)

Value:

  CartesianAxis<axis_id>::cross(v3_in, v_tmp);                                                     \
  res.col(axis_id).noalias() = oMl.rotation().transpose() * v_tmp;

PINOCCHIO_INTERNAL_COMPUTATION [2/2]

#define PINOCCHIO_INTERNAL_COMPUTATION	(		axis_id,
			v3_in,
			res
	)

Value:

  CartesianAxis<axis_id>::cross(v3_in, v_tmp);                                                     \
  res.col(axis_id).noalias() = oM1.rotation().transpose() * v_tmp;