constrained-rnea.hpp File Reference

#include "./fwd.hpp"
#include "aligator/fwd.hpp"
#include <pinocchio/algorithm/compute-all-terms.hpp>
#include <pinocchio/algorithm/contact-jacobian.hpp>
#include <Eigen/LU>

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Classes
struct	aligator::DataTpl< typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl >
struct	aligator::ModelTpl< typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl >
struct	aligator::RigidConstraintDataTpl< typename Scalar, int Options >
struct	aligator::RigidConstraintModelTpl< typename Scalar, int Options >

Namespaces
namespace	aligator
	Main package namespace.

Functions
template<typename Scalar, typename ConfigType, typename VelType, typename MatrixType, typename OutType, int Options>
void	aligator::underactuatedConstrainedInverseDynamics (const ModelTpl< Scalar, Options > &model, DataTpl< Scalar, Options > &data, const Eigen::MatrixBase< ConfigType > &q, Eigen::MatrixBase< VelType > const &v, const Eigen::MatrixBase< MatrixType > &actMatrix, const StdVectorEigenAligned< RigidConstraintModelTpl< Scalar, Options > > &constraint_models, StdVectorEigenAligned< RigidConstraintDataTpl< Scalar, Options > > &constraint_datas, const Eigen::MatrixBase< OutType > &res_)