dynamics.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/compute-all-terms.hpp"
#include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include <Eigen/Cholesky>
Include dependency graph for dynamics.hpp:

Namespaces

namespace  se3

Functions

const Eigen::VectorXd & se3::forwardDynamics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, const Eigen::MatrixXd &J, const Eigen::VectorXd &gamma, const bool updateKinematics=true)
 Compute the forward dynamics with contact constraints.
const Eigen::VectorXd & se3::impulseDynamics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v_before, const Eigen::MatrixXd &J, const double r_coeff=0., const bool updateKinematics=true)
 Compute the impulse dynamics with contact constraints.