pinocchio: impulse-dynamics.cpp Source File

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 //
 // Copyright (c) 2022 INRIA
 //
  
 #include "pinocchio/spatial/fwd.hpp"
  
 #ifndef PINOCCHIO_SKIP_ALGORITHM_IMPULSE_DYNAMICS
  
   #include "pinocchio/algorithm/impulse-dynamics.hpp"
  
 namespace pinocchio
 {
  
   template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs &
   impulseDynamics<
     context::Scalar,
     context::Options,
     JointCollectionDefaultTpl,
     context::VectorXs,
     context::VectorXs,
     typename context::RigidConstraintModelVector::allocator_type,
     typename context::RigidConstraintDataVector::allocator_type>(
     const context::Model &,
     context::Data &,
     const Eigen::MatrixBase<context::VectorXs> &,
     const Eigen::MatrixBase<context::VectorXs> &,
     const context::RigidConstraintModelVector &,
     context::RigidConstraintDataVector &,
     const context::Scalar,
     const ProximalSettingsTpl<context::Scalar> &);
 } // namespace pinocchio
  
 #endif // PINOCCHIO_SKIP_ALGORITHM_IMPULSE_DYNAMICS

pinocchio::impulseDynamics

const PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & impulseDynamics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)

Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called.