impulse-dynamics.hpp

//
// Copyright (c) 2020 CNRS INRIA
//
#pragma once

// IWYU pragma: begin_keep
#include <cassert>
#include <cstddef>
#include <vector>

#include <Eigen/Core>

#include "pinocchio/config.hpp"
#include "pinocchio/context.hpp"
#include "pinocchio/macros.hpp"
#include "pinocchio/unsupported.hpp"

#include "pinocchio/spatial.hpp"

#include "pinocchio/multibody.hpp"

#include "pinocchio/utils/check.hpp"

#include "pinocchio/constraints.hpp"
#include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/constrained-dynamics.hpp"
#include "pinocchio/algorithm/proximal.hpp"
#include "pinocchio/algorithm/constraint-cholesky.hpp"
// IWYU pragma: end_keep

namespace pinocchio
{


 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType,
 typename TangentVectorType1,
 class ConstraintModelAllocator,
 class ConstraintDataAllocator>
 PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
 const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & impulseDynamics(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q,
 const Eigen::MatrixBase<TangentVectorType1> & v_before,
 const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &
 contact_models,
 std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_datas,
 const Scalar r_coeff,
 const ProximalSettingsTpl<Scalar> & settings);

} // namespace pinocchio

// IWYU pragma: begin_exports
#include "pinocchio/src/algorithm/impulse-dynamics.hxx"
// IWYU pragma: end_exports