Template Function pinocchio::computeImpulseDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator>&, const Scalar, const ProximalSettingsTpl<Scalar>&, const Eigen::MatrixBase<MatrixType1>&, const Eigen::MatrixBase<MatrixType2>&, const Eigen::MatrixBase<MatrixType3>&, const Eigen::MatrixBase<MatrixType4>&)
Defined in File impulse-dynamics-derivatives.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename MatrixType1, typename MatrixType2, typename MatrixType3, typename MatrixType4>
inline void pinocchio::computeImpulseDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &contact_models, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> &contact_data, const Scalar r_coeff, const ProximalSettingsTpl<Scalar> &settings, const Eigen::MatrixBase<MatrixType1> &dvimpulse_partial_dq, const Eigen::MatrixBase<MatrixType2> &dvimpulse_partial_dv, const Eigen::MatrixBase<MatrixType3> &impulse_partial_dq, const Eigen::MatrixBase<MatrixType4> &impulse_partial_dv)