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// |
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// Copyright (c) 2020 CNRS INRIA |
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// |
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#ifndef __pinocchio_algorithm_impulse_dynamics_derivatives_hpp__ |
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#define __pinocchio_algorithm_impulse_dynamics_derivatives_hpp__ |
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#include "pinocchio/algorithm/contact-info.hpp" |
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namespace pinocchio |
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{ |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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class ConstraintModelAllocator, |
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class ConstraintDataAllocator, |
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typename MatrixType1, |
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typename MatrixType2, |
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typename MatrixType3, |
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typename MatrixType4> |
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PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") |
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inline void computeImpulseDynamicsDerivatives( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> & |
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contact_models, |
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std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data, |
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const Scalar r_coeff, |
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const ProximalSettingsTpl<Scalar> & settings, |
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const Eigen::MatrixBase<MatrixType1> & dvimpulse_partial_dq, |
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const Eigen::MatrixBase<MatrixType2> & dvimpulse_partial_dv, |
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const Eigen::MatrixBase<MatrixType3> & impulse_partial_dq, |
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const Eigen::MatrixBase<MatrixType4> & impulse_partial_dv); |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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class ConstraintModelAllocator, |
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class ConstraintDataAllocator> |
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PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") |
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inline void computeImpulseDynamicsDerivatives( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> & |
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contact_models, |
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std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data, |
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const Scalar r_coeff, |
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const ProximalSettingsTpl<Scalar> & settings) |
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{ |
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computeImpulseDynamicsDerivatives( |
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model, data, contact_models, contact_data, r_coeff, settings, data.ddq_dq, data.ddq_dv, |
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data.dlambda_dq, data.dlambda_dv); |
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}; |
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} // namespace pinocchio |
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#include "pinocchio/algorithm/impulse-dynamics-derivatives.hxx" |
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#endif // ifndef __pinocchio_algorithm_impulse_dynamics_derivatives_hpp__ |
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