Template Struct ContactCholeskyDecompositionPythonVisitor

Inheritance Relationships

Base Type

  • public boost::python::def_visitor< ContactCholeskyDecompositionPythonVisitor< ContactCholeskyDecomposition > >

Struct Documentation

template<typename ContactCholeskyDecomposition>
struct ContactCholeskyDecompositionPythonVisitor : public boost::python::def_visitor<ContactCholeskyDecompositionPythonVisitor<ContactCholeskyDecomposition>>

Public Types

typedef ContactCholeskyDecomposition Self
typedef ContactCholeskyDecomposition::Scalar Scalar
typedef ContactCholeskyDecomposition::RigidConstraintModel RigidConstraintModel
typedef ContactCholeskyDecomposition::RigidConstraintData RigidConstraintData
typedef ContactCholeskyDecomposition::Matrix Matrix
typedef ContactCholeskyDecomposition::Vector Vector
typedef pinocchio::python::context::Model Model
typedef pinocchio::python::context::Data Data

Public Functions

typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR (RigidConstraintModel) RigidConstraintModelVector
typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR (RigidConstraintData) RigidConstraintDataVector
template<class PyClass>
inline void visit(PyClass &cl) const

Public Static Functions

static inline void expose()
template<typename MatrixType>
static inline Matrix solve(const Self &self, const MatrixType &mat)
static inline void compute(Self &self, const Model &model, Data &data, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, const Scalar mu = static_cast<Scalar>(0))
static inline void compute(Self &self, const Model &model, Data &data, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, const Vector &mus)