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8 #include <boost/python/overloads.hpp>
19 bool computeSubtreeComs =
true)
29 bool computeSubtreeComs =
true)
40 bool computeSubtreeComs =
true)
49 bool computeSubtreeComs =
true)
105 & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
106 bp::args(
"model"),
"Compute the total mass of the model and return it.");
111 & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
112 bp::args(
"model",
"data"),
113 "Compute the total mass of the model, put it in data.mass[0] and return it.");
116 "computeSubtreeMasses",
118 & computeSubtreeMasses<Scalar, Options, JointCollectionDefaultTpl>,
119 bp::args(
"model",
"data"),
120 "Compute the mass of each kinematic subtree and store it in the vector data.mass.");
124 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"q"), bp::arg(
"compute_subtree_coms") =
true),
125 "Compute the center of mass, putting the result in context::Data and return it."
126 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
128 bp::return_value_policy<bp::return_by_value>());
132 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"q"), bp::arg(
"v"),
133 bp::arg(
"compute_subtree_coms") =
true),
134 "Computes the center of mass position and velocity by storing the result in context::Data. "
135 "It returns the center of mass position expressed in the WORLD frame.\n"
136 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
138 bp::return_value_policy<bp::return_by_value>());
142 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"q"), bp::arg(
"v"), bp::arg(
"a"),
143 bp::arg(
"compute_subtree_coms") =
true),
144 "Computes the center of mass position, velocity and acceleration by storing the result in "
145 "context::Data. It returns the center of mass position expressed in the WORLD frame.\n"
146 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
148 bp::return_value_policy<bp::return_by_value>());
152 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"kinematic_level"),
153 bp::arg(
"compute_subtree_coms") =
true),
154 "Computes the center of mass position, velocity or acceleration of a given model according "
155 "to the current kinematic values contained in data and the requested kinematic_level.\n"
156 "If kinematic_level = POSITION, computes the CoM position, if kinematic_level = VELOCITY, "
157 "also computes the CoM velocity and if kinematic_level = ACCELERATION, it also computes "
158 "the CoM acceleration.\n"
159 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
161 bp::return_value_policy<bp::return_by_value>());
165 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"compute_subtree_coms") =
true),
166 "Computes the center of mass position, velocity and acceleration of a given model "
167 "according to the current kinematic values contained in data.\n"
168 "If compute_subtree_coms is True, the algorithm also computes the center of mass of "
170 bp::return_value_policy<bp::return_by_value>());
173 "jacobianCenterOfMass",
175 const Eigen::MatrixBase<VectorXs> &,
bool))
176 & jacobianCenterOfMass<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
177 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"q"), bp::arg(
"compute_subtree_coms") =
true),
178 "Computes the Jacobian of the center of mass, puts the result in context::Data and return "
180 "If compute_subtree_coms is True, the algorithm also computes the center of mass of the "
182 bp::return_value_policy<bp::return_by_value>());
185 "jacobianCenterOfMass",
187 & jacobianCenterOfMass<Scalar, Options, JointCollectionDefaultTpl>,
188 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"compute_subtree_coms") =
true),
189 "Computes the Jacobian of the center of mass, puts the result in context::Data and "
191 "If compute_subtree_coms is True, the algorithm also computes the center of mass of "
193 bp::return_value_policy<bp::return_by_value>());
197 bp::args(
"model",
"data",
"q",
"subtree_root_joint_id"),
198 "Computes the Jacobian of the CoM of the given subtree (subtree_root_joint_id) "
199 "expressed in the WORLD frame, according to the given joint configuration.");
203 bp::args(
"model",
"data",
"subtree_root_joint_id"),
204 "Computes the Jacobian of the CoM of the given subtree (subtree_root_joint_id) "
205 "expressed in the WORLD frame, according to the given entries in data.");
209 bp::args(
"model",
"data",
"subtree_root_joint_id"),
210 "Get the Jacobian of the CoM of the given subtree expressed in the world frame, "
211 "according to the given entries in data. It assumes that jacobianCenterOfMass has "
212 "been called first.");
traits< SE3Tpl >::Vector3 Vector3
static context::SE3::Vector3 com_0_proxy(const context::Model &model, context::Data &data, const context::VectorXs &q, bool computeSubtreeComs=true)
KinematicLevel
List of Kinematics Level supported by Pinocchio.
static context::SE3::Vector3 com_1_proxy(const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, bool computeSubtreeComs=true)
static const context::Data::Vector3 & com_default_proxy(const context::Model &model, context::Data &data, bool computeSubtreeComs=true)
context::VectorXs VectorXs
static context::Data::Matrix3x jacobian_subtree_com_proxy(const context::Model &model, context::Data &data, context::Model::JointIndex jointId)
pinocchio::JointIndex JointIndex
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x
The 3d jacobian type (temporary)
static context::Data::Matrix3x get_jacobian_subtree_com_proxy(const context::Model &model, context::Data &data, context::Model::JointIndex jointId)
Eigen::Matrix< Scalar, 3, 1, Options > Vector3
void getJacobianSubtreeCenterOfMass(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
Retrieves the Jacobian of the center of mass of the given subtree according to the current value stor...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
static const context::Data::Vector3 & com_level_proxy(const context::Model &model, context::Data &data, KinematicLevel kinematic_level, bool computeSubtreeComs=true)
static context::Data::Matrix3x jacobian_subtree_com_kinematics_proxy(const context::Model &model, context::Data &data, const context::VectorXs &q, context::Model::JointIndex jointId)
static context::SE3::Vector3 com_2_proxy(const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &a, bool computeSubtreeComs=true)
void jacobianSubtreeCenterOfMass(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
Computes the Jacobian of the center of mass of the given subtree according to a particular joint conf...
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
JointCollectionTpl & model
Main pinocchio namespace.
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 & centerOfMass(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool computeSubtreeComs=true)
Computes the center of mass position of a given model according to a particular joint configuration....
pinocchio
Author(s):
autogenerated on Thu Jun 13 2024 02:40:48