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18 RigidConstraintModelVector;
20 RigidConstraintDataVector;
51 bp::args(
"model",
"data",
"contact_model",
"contact_data"),
52 "Computes the kinematic Jacobian associatied to a given constraint model.");
55 bp::args(
"model",
"data",
"contact_models",
"contact_datas"),
56 "Computes the kinematic Jacobian associatied to a given set of constraint models.");
RigidConstraintDataTpl< Scalar, Options > RigidConstraintData
void exposeContactJacobian()
static context::MatrixXs getConstraintsJacobian_proxy(const context::Model &model, const context::Data &data, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas)
static context::MatrixXs getConstraintJacobian_proxy(const context::Model &model, const context::Data &data, const context::RigidConstraintModel &contact_model, context::RigidConstraintData &contact_data)
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
void getConstraintJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const RigidConstraintModelTpl< Scalar, Options > &constraint_model, RigidConstraintDataTpl< Scalar, Options > &constraint_data, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the kinematic Jacobian associatied to a given constraint model.
struct PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") RigidConstraintModelTpl size_t getTotalConstraintSize(const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
Contact model structure containg all the info describing the rigid contact model.
void getConstraintsJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintDataAllocator > &constraint_model, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &constraint_data, const Eigen::MatrixBase< DynamicMatrixLike > &J)
Computes the kinematic Jacobian associatied to a given set of constraint models.
typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(context::RigidConstraintModel) RigidConstraintModelVector
RigidConstraintModelTpl< Scalar, Options > RigidConstraintModel
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09