Template Function pinocchio::computePvDelassusMatrix
Defined in File delassus.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, class ModelAllocator, class DataAllocator, typename MatrixType>
void pinocchio::computePvDelassusMatrix(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator> &contact_models, std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator> &contact_data, const Eigen::MatrixBase<MatrixType> &delassus_, const Scalar mu)