Template Function pinocchio::contactABA(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>, ModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator>&)
Defined in File constrained-dynamics.hpp
Function Documentation
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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::contactABA(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)