constrained-rnea.hpp File Reference

#include "./fwd.hpp"
#include "aligator/fwd.hpp"
#include <pinocchio/algorithm/compute-all-terms.hpp>
#include <pinocchio/algorithm/contact-jacobian.hpp>
#include <Eigen/LU>

Include dependency graph for constrained-rnea.hpp:

Go to the source code of this file.

Namespaces
namespace	aligator
	Main package namespace.

Functions
template<typename Scalar , typename ConfigType , typename VelType , typename MatrixType , typename OutType , int Options>
void	aligator::underactuatedConstrainedInverseDynamics (const ModelTpl< Scalar, Options > &model, DataTpl< Scalar, Options > &data, const Eigen::MatrixBase< ConfigType > &q, Eigen::MatrixBase< VelType > const &v, const Eigen::MatrixBase< MatrixType > &actMatrix, const StdVectorEigenAligned< RigidConstraintModelTpl< Scalar, Options > > &constraint_models, StdVectorEigenAligned< RigidConstraintDataTpl< Scalar, Options > > &constraint_datas, const Eigen::MatrixBase< OutType > &res_)