.. _exhale_function_namespacepinocchio_1a7f0365bf62c84cc184ffc1cf6e5135f8:

Template Function pinocchio::constrainedABA
===========================================

- Defined in :ref:`file_include_pinocchio_algorithm_pv.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::constrainedABA(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ContactModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ContactDataAllocator>&, ProximalSettingsTpl<Scalar>&)
   :project: pinocchio Doxygen Project