Template Struct ContactABAForwardStep2
Defined in File constrained-dynamics.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< ContactABAForwardStep2< Scalar, Options, JointCollectionTpl > >
(Template Struct JointUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
struct ContactABAForwardStep2 : public pinocchio::fusion::JointUnaryVisitorBase<ContactABAForwardStep2<Scalar, Options, JointCollectionTpl>> Public Types
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
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)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model