Template Function pinocchio::initConstraintDynamics

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, class Allocator>
inline void pinocchio::initConstraintDynamics(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator> &contact_models)

Init the forward dynamics 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.