pinocchio
3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
fwd.hpp
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//
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// Copyright (c) 2020-2024 INRIA
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//
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#ifndef __pinocchio_algorithm_fwd_hpp__
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#define __pinocchio_algorithm_fwd_hpp__
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#include "pinocchio/fwd.hpp"
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namespace
pinocchio
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{
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template
<
typename
Scalar>
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struct
ProximalSettingsTpl;
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typedef
ProximalSettingsTpl<context::Scalar> ProximalSettings;
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template
<
typename
Scalar,
int
Options>
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struct
ContactCholeskyDecompositionTpl
;
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typedef
ContactCholeskyDecompositionTpl<context::Scalar, context::Options>
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ContactCholeskyDecomposition
;
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template
<
typename
Scalar,
int
Options>
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struct
RigidConstraintModelTpl
;
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template
<
typename
Scalar,
int
Options>
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struct
RigidConstraintDataTpl
;
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typedef
RigidConstraintModelTpl<context::Scalar, context::Options>
RigidConstraintModel
;
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typedef
RigidConstraintDataTpl<context::Scalar, context::Options>
RigidConstraintData
;
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template
<
typename
Scalar,
int
Options = 0>
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struct
DelassusOperatorDenseTpl
;
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typedef
DelassusOperatorDenseTpl<context::Scalar, context::Options>
DelassusOperatorDense
;
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template
<
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typename
Scalar,
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int
Options = 0,
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class
SparseCholeskyDecomposition = Eigen::SimplicialLLT<Eigen::SparseMatrix<Scalar, Options>>>
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struct
DelassusOperatorSparseTpl
;
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typedef
DelassusOperatorSparseTpl<context::Scalar, context::Options>
DelassusOperatorSparse
;
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}
// namespace pinocchio
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#endif
// ifndef __pinocchio_algorithm_fwd_hpp__
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:11
pinocchio::ContactCholeskyDecompositionTpl
Definition:
fwd.hpp:17
pinocchio::DelassusOperatorDenseTpl
Definition:
delassus-operator-dense.hpp:31
pinocchio::DelassusOperatorSparseTpl
Definition:
delassus-operator-sparse.hpp:129
pinocchio::RigidConstraintDataTpl
Definition:
fwd.hpp:16
pinocchio::RigidConstraintModelTpl
Definition:
fwd.hpp:14
include
pinocchio
algorithm
fwd.hpp
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