Template Function pinocchio::proxLTLs
Defined in File constrained-dynamics.hxx
Function Documentation
-
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, class ModelAllocator, class DataAllocator>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &pinocchio::proxLTLs(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType1> &v, const Eigen::MatrixBase<TangentVectorType2> &tau, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator> &contact_models, std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator> &contact_data, ProximalSettingsTpl<Scalar> &settings)