Template Struct ContactForceContribution
Defined in File constrained-dynamics-derivatives.hxx
Struct Documentation
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template<typename Scalar>
struct ContactForceContribution Public Static Functions
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template<int Options, template<typename, int> class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator>
static inline void run(const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &contact_models, DataTpl<Scalar, Options, JointCollectionTpl> &data, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> &contact_data)
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template<int Options, template<typename, int> class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator>