pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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contact-dynamics.hpp
1//
2// Copyright (c) 2016-2020 CNRS INRIA
3//
4
5#ifndef __pinocchio_algorithm_contact_dynamics_hpp__
6#define __pinocchio_algorithm_contact_dynamics_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10
11namespace pinocchio
12{
13
38
55 template<
56 typename Scalar,
57 int Options,
58 template<typename, int> class JointCollectionTpl,
59 typename ConfigVectorType,
60 typename TangentVectorType1,
61 typename TangentVectorType2,
62 typename ConstraintMatrixType,
63 typename DriftVectorType>
64 PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
65 TangentVectorType &
66 forwardDynamics(
67 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
68 DataTpl<Scalar, Options, JointCollectionTpl> & data,
69 const Eigen::MatrixBase<ConfigVectorType> & q,
70 const Eigen::MatrixBase<TangentVectorType1> & v,
71 const Eigen::MatrixBase<TangentVectorType2> & tau,
72 const Eigen::MatrixBase<ConstraintMatrixType> & J,
73 const Eigen::MatrixBase<DriftVectorType> & gamma,
74 const Scalar inv_damping = 0.);
75
83
101
117 template<
118 typename Scalar,
119 int Options,
120 template<typename, int> class JointCollectionTpl,
121 typename TangentVectorType,
122 typename ConstraintMatrixType,
123 typename DriftVectorType>
124 PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
125 TangentVectorType &
126 forwardDynamics(
127 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
128 DataTpl<Scalar, Options, JointCollectionTpl> & data,
129 const Eigen::MatrixBase<TangentVectorType> & tau,
130 const Eigen::MatrixBase<ConstraintMatrixType> & J,
131 const Eigen::MatrixBase<DriftVectorType> & gamma,
132 const Scalar inv_damping = 0.);
133
149 template<
150 typename Scalar,
151 int Options,
152 template<typename, int> class JointCollectionTpl,
153 typename ConfigVectorType,
154 typename ConstraintMatrixType,
155 typename KKTMatrixType>
156 void computeKKTContactDynamicMatrixInverse(
157 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
158 DataTpl<Scalar, Options, JointCollectionTpl> & data,
159 const Eigen::MatrixBase<ConfigVectorType> & q,
160 const Eigen::MatrixBase<ConstraintMatrixType> & J,
161 const Eigen::MatrixBase<KKTMatrixType> & KKTMatrix_inv,
162 const Scalar & inv_damping = 0.);
163
186 template<
187 typename Scalar,
188 int Options,
189 template<typename, int> class JointCollectionTpl,
190 typename ConstraintMatrixType,
191 typename KKTMatrixType>
192 PINOCCHIO_DEPRECATED void getKKTContactDynamicMatrixInverse(
193 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
194 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
195 const Eigen::MatrixBase<ConstraintMatrixType> & J,
196 const Eigen::MatrixBase<KKTMatrixType> & KKTMatrix_inv);
197
232 template<
233 typename Scalar,
234 int Options,
235 template<typename, int> class JointCollectionTpl,
236 typename ConfigVectorType,
237 typename TangentVectorType,
238 typename ConstraintMatrixType>
239 PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
240 TangentVectorType &
241 impulseDynamics(
242 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
243 DataTpl<Scalar, Options, JointCollectionTpl> & data,
244 const Eigen::MatrixBase<ConfigVectorType> & q,
245 const Eigen::MatrixBase<TangentVectorType> & v_before,
246 const Eigen::MatrixBase<ConstraintMatrixType> & J,
247 const Scalar r_coeff = 0.,
248 const Scalar inv_damping = 0.);
249
283 template<
284 typename Scalar,
285 int Options,
286 template<typename, int> class JointCollectionTpl,
287 typename ConfigVectorType,
288 typename TangentVectorType,
289 typename ConstraintMatrixType>
290 PINOCCHIO_DEPRECATED inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::
291 TangentVectorType &
292 impulseDynamics(
293 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
294 DataTpl<Scalar, Options, JointCollectionTpl> & data,
295 const Eigen::MatrixBase<TangentVectorType> & v_before,
296 const Eigen::MatrixBase<ConstraintMatrixType> & J,
297 const Scalar r_coeff = 0.,
298 const Scalar inv_damping = 0.);
299
300} // namespace pinocchio
301
302#include "pinocchio/algorithm/contact-dynamics.hxx"
303
304#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
305 #include "pinocchio/algorithm/contact-dynamics.txx"
306#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
307
308#endif // ifndef __pinocchio_algorithm_contact_dynamics_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeKKTContactDynamicMatrixInverse
void computeKKTContactDynamicMatrixInverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv, const Scalar &inv_damping=0.)
Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the followi...
pinocchio::forwardDynamics
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & forwardDynamics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
Compute the forward dynamics with contact constraints. Internally, pinocchio::computeAllTerms is call...
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::getKKTContactDynamicMatrixInverse
PINOCCHIO_DEPRECATED void getKKTContactDynamicMatrixInverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv)
Computes the inverse of the KKT matrix for dynamics with contact constraints.