pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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contact-jacobian.hpp
1//
2// Copyright (c) 2021 INRIA
3//
4
5#ifndef __pinocchio_algorithm_contact_jacobian_hpp__
6#define __pinocchio_algorithm_contact_jacobian_hpp__
7
8#include "pinocchio/algorithm/contact-info.hpp"
9
10namespace pinocchio
11{
12
23 template<
24 typename Scalar,
25 int Options,
26 template<typename, int> class JointCollectionTpl,
27 typename Matrix6Like>
28 PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
29 void getConstraintJacobian(
30 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
31 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
32 const RigidConstraintModelTpl<Scalar, Options> & constraint_model,
33 RigidConstraintDataTpl<Scalar, Options> & constraint_data,
34 const Eigen::MatrixBase<Matrix6Like> & J);
35
46 template<
47 typename Scalar,
48 int Options,
49 template<typename, int> class JointCollectionTpl,
50 typename DynamicMatrixLike,
51 class ConstraintModelAllocator,
52 class ConstraintDataAllocator>
53 PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
54 void getConstraintsJacobian(
55 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
56 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
57 const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintDataAllocator> &
58 constraint_model,
59 std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & constraint_data,
60 const Eigen::MatrixBase<DynamicMatrixLike> & J);
61
62} // namespace pinocchio
63
64#include "pinocchio/algorithm/contact-jacobian.hxx"
65
66#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
67 #include "pinocchio/algorithm/contact-jacobian.txx"
68#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
69
70#endif // ifndef __pinocchio_algorithm_contact_jacobian_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::getConstraintJacobian
void getConstraintJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const RigidConstraintModelTpl< Scalar, Options > &constraint_model, RigidConstraintDataTpl< Scalar, Options > &constraint_data, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the kinematic Jacobian associatied to a given constraint model.
pinocchio::PINOCCHIO_UNSUPPORTED_MESSAGE
struct PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") ContactCholeskyDecompositionTpl
Contact Cholesky decomposition structure. This structure allows to compute in a efficient and parsimo...
Definition contact-cholesky.hpp:55
pinocchio::getConstraintsJacobian
void getConstraintsJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintDataAllocator > &constraint_model, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &constraint_data, const Eigen::MatrixBase< DynamicMatrixLike > &J)
Computes the kinematic Jacobian associatied to a given set of constraint models.