pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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impulse-dynamics.hpp
1//
2// Copyright (c) 2020 CNRS INRIA
3//
4
5#ifndef __pinocchio_algorithm_impulse_dynamics_hpp__
6#define __pinocchio_algorithm_impulse_dynamics_hpp__
7
8#include "pinocchio/algorithm/constrained-dynamics.hpp"
9#include "pinocchio/algorithm/contact-info.hpp"
10
11#include "pinocchio/algorithm/proximal.hpp"
12
13namespace pinocchio
14{
15
48 template<
49 typename Scalar,
50 int Options,
51 template<typename, int> class JointCollectionTpl,
52 typename ConfigVectorType,
53 typename TangentVectorType1,
54 class ConstraintModelAllocator,
55 class ConstraintDataAllocator>
56 PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
57 const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & impulseDynamics(
58 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
59 DataTpl<Scalar, Options, JointCollectionTpl> & data,
60 const Eigen::MatrixBase<ConfigVectorType> & q,
61 const Eigen::MatrixBase<TangentVectorType1> & v_before,
62 const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &
63 contact_models,
64 std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_datas,
65 const Scalar r_coeff,
66 const ProximalSettingsTpl<Scalar> & settings);
67
68} // namespace pinocchio
69
70#include "pinocchio/algorithm/impulse-dynamics.hxx"
71
72#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
73 #include "pinocchio/algorithm/impulse-dynamics.txx"
74#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
75
76#endif // ifndef __pinocchio_algorithm_impulse_dynamics_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
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::impulseDynamics
PINOCCHIO_DEPRECATED const 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< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called.
pinocchio::ProximalSettingsTpl
Structure containing all the settings parameters for the proximal algorithms.
Definition proximal.hpp:25