contactConstraintsmex.cpp File Reference

#include <Eigen/Sparse>
#include "drake/util/mexify.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "KinematicsCache.h"
#include "drake/util/standardMexConversions.h"
#include "rigidBodyTreeMexConversions.h"

Include dependency graph for contactConstraintsmex.cpp:

Typedefs
template<typename Scalar >
using	MatrixX = Matrix< Scalar, Dynamic, Dynamic >
typedef AutoDiffScalar< VectorXd >	AutoDiffDynamicSize
typedef DrakeJoint::AutoDiffFixedMaxSize	AutoDiffFixedMaxSize

Functions
template<typename... Args, typename ReturnType >
auto	make_function (ReturnType(*p)(Args...)) -> std::function< ReturnType(Args...)>
void	buildSparseMatrixForContactConstraints (Map< const Matrix3Xd > const &pts, SparseMatrix< double > &sparse)
template<typename Scalar >
pair< MatrixX< Scalar >, vector< MatrixX< Scalar > > >	contactConstraints (const RigidBodyTree &model, const KinematicsCache< Scalar > &cache, const Map< const Matrix3Xd > &normals, const Map< const VectorXi > &idxA, const Map< const VectorXi > &idxB, const Map< const Matrix3Xd > &xA, const Map< const Matrix3Xd > &xB, const vector< Map< const Matrix3Xd >> &d)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])

Typedef Documentation

typedef AutoDiffScalar<VectorXd> AutoDiffDynamicSize

typedef DrakeJoint::AutoDiffFixedMaxSize AutoDiffFixedMaxSize

using MatrixX = Matrix<Scalar, Dynamic, Dynamic>

Function Documentation

void buildSparseMatrixForContactConstraints ( Map< const Matrix3Xd > const &  pts, SparseMatrix< double > &  sparse  )

inline

Here is the caller graph for this function:

pair<MatrixX<Scalar>, vector<MatrixX<Scalar> > > contactConstraints	(	const RigidBodyTree &	model,
		const KinematicsCache< Scalar > &	cache,
		const Map< const Matrix3Xd > &	normals,
		const Map< const VectorXi > &	idxA,
		const Map< const VectorXi > &	idxB,
		const Map< const Matrix3Xd > &	xA,
		const Map< const Matrix3Xd > &	xB,
		const vector< Map< const Matrix3Xd >> &	d
	)

Here is the call graph for this function:

auto make_function

(

ReturnType(*)(Args...)

p

)

-> std::function<ReturnType(Args...)>

Here is the caller graph for this function:

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

Here is the call graph for this function: