Class SimulatorTpl

include/simple/core/simulator.hpp:32–504

  template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
  struct SimulatorTpl // : ::pinocchio::NumericalBase<SimulatorTpl<_Scalar,
                      // _Options, JointCollectionTpl>>
  {
    // TODO: template by allocator
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    // Typedefs
    using Scalar = _Scalar;
    enum
    {
      Options = _Options
    };

    using GeomIndex = pinocchio::GeomIndex;

    using VectorXs = Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options>;
    using Vector3s = Eigen::Matrix<Scalar, 3, 1, Options>;
    using Vector6s = Eigen::Matrix<Scalar, 6, 1, Options>;
    using MatrixXs = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options>;

    using Model = ::pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>;
    using ModelHandle = std::shared_ptr<Model>;
    using Data = typename Model::Data;
    using DataHandle = std::shared_ptr<Data>;
    using GeometryModel = ::pinocchio::GeometryModel;
    using GeometryModelHandle = std::shared_ptr<GeometryModel>;
    using GeometryData = ::pinocchio::GeometryData;
    using GeometryDataHandle = std::shared_ptr<GeometryData>;

    using Force = typename Data::Force;
    using Motion = typename Data::Motion;
    using SE3 = typename Data::SE3;
    using JointModel = ::pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>;

    // TODO: template simulator by broad phase manager
    using BroadPhaseManager = ::pinocchio::BroadPhaseManagerTpl<hpp::fcl::DynamicAABBTreeCollisionManager>;
    using BroadPhaseManagerHandle = std::shared_ptr<BroadPhaseManager>;
    using CollisionCallbackCollect = ::pinocchio::CollisionCallBackCollect;

    using ADMMConstraintSolver = ::pinocchio::ADMMContactSolverTpl<Scalar>;
    using PGSConstraintSolver = ::pinocchio::PGSContactSolverTpl<Scalar>;

    using SpatialForce = ::pinocchio::ForceTpl<Scalar, Options>;
    using SpatialForceVector = PINOCCHIO_ALIGNED_STD_VECTOR(SpatialForce);

    using ConstraintsProblem = ConstraintsProblemTpl<Scalar, Options, JointCollectionTpl>;
    using ConstraintsProblemHandle = std::shared_ptr<ConstraintsProblem>;

    using ConstraintCholeskyDecomposition = typename ConstraintsProblem::ConstraintCholeskyDecomposition;
    using DelassusOperator = ::pinocchio::DelassusCholeskyExpressionTpl<ConstraintCholeskyDecomposition>;

    using FrictionalPointConstraintModel = typename ConstraintsProblem::FrictionalPointConstraintModel;
    using FrictionalJointConstraintModel = typename ConstraintsProblem::FrictionalJointConstraintModel;
    using JointLimitConstraintModel = typename ConstraintsProblem::JointLimitConstraintModel;
    using BilateralPointConstraintModel = typename ConstraintsProblem::BilateralPointConstraintModel;
    using BilateralPointConstraintData = typename ConstraintsProblem::BilateralPointConstraintData;
    using BilateralPointConstraintModelVector = typename ConstraintsProblem::BilateralPointConstraintModelVector;
    using WeldConstraintModel = typename ConstraintsProblem::WeldConstraintModel;