Template Struct ContactAndImpulseDynamicsBackwardStep
Defined in File constrained-dynamics.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< ContactAndImpulseDynamicsBackwardStep< Scalar, Options, JointCollectionTpl, ContactMode > >
(Template Struct JointUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, bool ContactMode>
struct ContactAndImpulseDynamicsBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<ContactAndImpulseDynamicsBackwardStep<Scalar, Options, JointCollectionTpl, ContactMode>> 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 JointModelBase<JointModel> &jmodel, const Model &model, Data &data)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model