21 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 using Base = ODEAbstractTpl<Scalar>;
27 using Data = MultibodyConstraintFwdDataTpl<Scalar>;
29 pinocchio::RigidConstraintModel);
31 PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData);
33 using Manifold = proxsuite::nlp::MultibodyPhaseSpace<Scalar>;
45 const ManifoldPtr &state,
const MatrixXs &actuation,
49 virtual void forward(
const ConstVectorRef &x,
const ConstVectorRef &u,
51 virtual void dForward(
const ConstVectorRef &x,
const ConstVectorRef &u,
typename math_types< Scalar >::MatrixXs MatrixXs
pinocchio::ProximalSettingsTpl< Scalar > settings
PinDataType pin_data_
shared_ptr to the underlying pinocchio::DataTpl object.
RigidConstraintDataVector constraint_datas_
typename math_types< Scalar >::VectorXs VectorXs
pinocchio::DataTpl< Scalar > PinDataType
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) RigidConstraintDataVector
MultibodyConstraintFwdDataTpl(const MultibodyConstraintFwdDynamicsTpl< Scalar > &cont_dyn)
Constraint multibody forward dynamics, using Pinocchio.
MultibodyConstraintFwdDynamicsTpl(const ManifoldPtr &state, const MatrixXs &actuation, const RigidConstraintModelVector &constraint_models, const ProxSettings &prox_settings)
shared_ptr< ContDataAbstract > createData() const
Create a data holder instance.
virtual void forward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
Evaluate the ODE vector field: this returns the value of .
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR( pinocchio::RigidConstraintModel) RigidConstraintModelVector
MultibodyConstraintFwdDataTpl< Scalar > Data
RigidConstraintModelVector constraint_models_
virtual void dForward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
Evaluate the vector field Jacobians.
shared_ptr< Manifold > ManifoldPtr
proxsuite::nlp::MultibodyPhaseSpace< Scalar > Manifold
const Manifold & space() const
pinocchio::ProximalSettingsTpl< Scalar > ProxSettings
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) RigidConstraintDataVector