6#ifndef __pinocchio_algorithm_contact_delassus_hpp__
7#define __pinocchio_algorithm_contact_delassus_hpp__
9#include "pinocchio/algorithm/contact-info.hpp"
17 template<
typename,
int>
class JointCollectionTpl,
19 PINOCCHIO_UNSUPPORTED_MESSAGE(
"The API will change towards more flexibility")
20 inline
void initPvDelassus(
21 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
22 DataTpl<Scalar, Options, JointCollectionTpl> & data,
23 const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator> & contact_models);
46 template<typename,
int> class JointCollectionTpl,
47 typename ConfigVectorType,
51 PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
54 DataTpl<Scalar, Options, JointCollectionTpl> & data,
95 DataTpl<Scalar, Options, JointCollectionTpl> & data,
106#include "pinocchio/algorithm/delassus.hxx"
Main pinocchio namespace.
void computeDampedDelassusMatrixInverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &damped_delassus_inverse, const Scalar mu, const bool scaled=false, const bool Pv=true)
Computes the inverse of the Delassus matrix associated to a set of given constraints.
void computeDelassusMatrix(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &delassus, const Scalar mu=0)
Computes the Delassus matrix associated to a set of given constraints.