Template Function pinocchio::initPvSolver
Defined in File pv.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, class Allocator>
inline void pinocchio::initPvSolver(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator> &contact_models) Init the data according to the contact information contained in contact_models.
- Template Parameters:
JointCollection – Collection of Joint types.
ConfigVectorType – Type of the joint configuration vector.
TangentVectorType1 – Type of the joint velocity vector.
TangentVectorType2 – Type of the joint torque vector.
Allocator – Allocator class for the std::vector.
- Parameters:
model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
contact_models – [in] Vector of contact information related to the problem.