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40 "computeStaticRegressor",
41 &computeStaticRegressor<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
42 bp::args(
"model",
"data",
"q"),
43 "Compute the static regressor that links the inertia parameters of the system to its "
44 "center of mass position,\n"
45 "store the result in context::Data and return it.\n\n"
47 "\tmodel: model of the kinematic tree\n"
48 "\tdata: data related to the model\n"
49 "\tq: the joint configuration vector (size model.nq)\n",
50 bp::return_value_policy<bp::return_by_value>());
54 "Computes the regressor for the dynamic parameters of a single rigid body.\n"
55 "The result is such that "
56 "Ia + v x Iv = bodyRegressor(v,a) * I.toDynamicParameters()\n\n"
58 "\tvelocity: spatial velocity of the rigid body\n"
59 "\tacceleration: spatial acceleration of the rigid body\n");
63 "Compute the regressor for the dynamic parameters of a rigid body attached to a "
65 "This algorithm assumes RNEA has been run to compute the acceleration and "
66 "gravitational effects.\n\n"
68 "\tmodel: model of the kinematic tree\n"
69 "\tdata: data related to the model\n"
70 "\tjoint_id: index of the joint\n");
74 "Computes the regressor for the dynamic parameters of a rigid body attached to a "
76 "This algorithm assumes RNEA has been run to compute the acceleration and "
77 "gravitational effects.\n\n"
79 "\tmodel: model of the kinematic tree\n"
80 "\tdata: data related to the model\n"
81 "\tframe_id: index of the frame\n");
84 "computeJointTorqueRegressor",
87 bp::args(
"model",
"data",
"q",
"v",
"a"),
88 "Compute the joint torque regressor that links the joint torque "
89 "to the dynamic parameters of each link according to the current the robot motion,\n"
90 "store the result in context::Data and return it.\n\n"
92 "\tmodel: model of the kinematic tree\n"
93 "\tdata: data related to the model\n"
94 "\tq: the joint configuration vector (size model.nq)\n"
95 "\tv: the joint velocity vector (size model.nv)\n"
96 "\ta: the joint acceleration vector (size model.nv)\n",
97 bp::return_value_policy<bp::return_by_value>());
context::MatrixXs jointBodyRegressor_proxy(const context::Model &model, context::Data &data, const JointIndex jointId)
context::MatrixXs frameBodyRegressor_proxy(const context::Model &model, context::Data &data, const FrameIndex frameId)
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & computeJointTorqueRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
Computes the joint torque regressor that links the joint torque to the dynamic parameters of each lin...
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & frameBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex frameId)
Computes the regressor for the dynamic parameters of a rigid body attached to a given frame,...
context::VectorXs VectorXs
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
context::MatrixXs bodyRegressor_proxy(const context::Motion &v, const context::Motion &a)
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
void bodyRegressor(const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > ®ressor)
Computes the regressor for the dynamic parameters of a single rigid body.
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & jointBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, JointIndex jointId)
Computes the regressor for the dynamic parameters of a rigid body attached to a given joint,...
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Thu Jun 13 2024 02:40:48