5#ifndef __pinocchio_algorithm_impulse_dynamics_derivatives_hpp__
6#define __pinocchio_algorithm_impulse_dynamics_derivatives_hpp__
8#include "pinocchio/algorithm/contact-info.hpp"
16 template<
typename,
int>
class JointCollectionTpl,
17 class ConstraintModelAllocator,
18 class ConstraintDataAllocator,
23 PINOCCHIO_UNSUPPORTED_MESSAGE(
"The API will change towards more flexibility")
24 inline
void computeImpulseDynamicsDerivatives(
25 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
26 DataTpl<Scalar, Options, JointCollectionTpl> & data,
27 const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &
29 std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data,
31 const ProximalSettingsTpl<Scalar> & settings,
32 const Eigen::MatrixBase<MatrixType1> & dvimpulse_partial_dq,
33 const Eigen::MatrixBase<MatrixType2> & dvimpulse_partial_dv,
34 const Eigen::MatrixBase<MatrixType3> & impulse_partial_dq,
35 const Eigen::MatrixBase<MatrixType4> & impulse_partial_dv);
40 template<typename,
int> class JointCollectionTpl,
41 class ConstraintModelAllocator,
42 class ConstraintDataAllocator>
43 PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
44 inline
void computeImpulseDynamicsDerivatives(
45 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
46 DataTpl<Scalar, Options, JointCollectionTpl> & data,
47 const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &
49 std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data,
51 const ProximalSettingsTpl<Scalar> & settings)
53 computeImpulseDynamicsDerivatives(
54 model, data, contact_models, contact_data, r_coeff, settings, data.ddq_dq, data.ddq_dv,
55 data.dlambda_dq, data.dlambda_dv);
60#include "pinocchio/algorithm/impulse-dynamics-derivatives.hxx"
Main pinocchio namespace.