Template Struct ContactABAForwardStep1
Defined in File constrained-dynamics.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< ContactABAForwardStep1< Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType > >
(Template Struct JointUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct ContactABAForwardStep1 : public pinocchio::fusion::JointUnaryVisitorBase<ContactABAForwardStep1<Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType>> Public Types
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
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typedef boost::fusion::vector<const Model&, Data&, const ConfigVectorType&, const TangentVectorType&> ArgsType
Public Static Functions
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template<typename JointModel>
static inline void algo(const pinocchio::JointModelBase<JointModel> &jmodel, pinocchio::JointDataBase<typename JointModel::JointDataDerived> &jdata, const Model &model, Data &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType> &v)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model