#include <generic.hpp>
Public Types | |
enum | { Options = _Options } |
typedef Eigen::Matrix< Scalar, 6, 10, Options > | BodyRegressorType |
The type of the body regressor. More... | |
typedef VectorXs | ConfigVectorType |
Dense vectorized version of a joint configuration vector. More... | |
typedef ForceTpl< Scalar, Options > | Force |
typedef FrameTpl< Scalar, Options > | Frame |
typedef pinocchio::FrameIndex | FrameIndex |
typedef pinocchio::GeomIndex | GeomIndex |
typedef pinocchio::Index | Index |
typedef std::vector< Index > | IndexVector |
typedef InertiaTpl< Scalar, Options > | Inertia |
typedef JointCollectionTpl< Scalar, Options > | JointCollection |
typedef JointDataTpl< Scalar, Options, JointCollectionTpl > | JointData |
typedef pinocchio::JointIndex | JointIndex |
typedef JointModelTpl< Scalar, Options, JointCollectionTpl > | JointModel |
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > | Matrix3x |
The 3d jacobian type (temporary) More... | |
typedef Eigen::Matrix< Scalar, 6, 6, Options > | Matrix6 |
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > | Matrix6x |
The 6d jacobian type (temporary) More... | |
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > | MatrixXs |
typedef ModelTpl< Scalar, Options, JointCollectionTpl > | Model |
typedef MotionTpl< Scalar, Options > | Motion |
typedef Eigen::Matrix< Scalar, 6, 6, Eigen::RowMajor|Options > | RowMatrix6 |
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options > | RowMatrixXs |
typedef SE3Tpl< Scalar, Options > | SE3 |
typedef VectorXs | TangentVectorType |
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc). More... | |
typedef Tensor< Scalar, 3, Options > | Tensor3x |
More... | |
typedef Eigen::Matrix< Scalar, 3, 1, Options > | Vector3 |
typedef Eigen::Matrix< Scalar, 6, 1, Options > | Vector6 |
typedef Eigen::Matrix< Scalar, 6, 1, Options > | Vector6c |
typedef Eigen::Matrix< Scalar, 1, 6, Eigen::RowMajor|Options > | Vector6r |
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > | VectorXs |
Public Member Functions | |
DataTpl () | |
Default constructor. More... | |
DataTpl (const Model &model) | |
Default constructor of pinocchio::Data from a pinocchio::Model. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) f | |
Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) h | |
Vector of spatial momenta expressed in the local frame of the joint. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) of | |
Vector of body forces expressed at the origin of the world. For each body, the force represents the sum of all external forces acting on the body. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) of_augmented | |
Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body. These forces are used in the context of augmented Lagrangian algorithms. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) oh | |
Vector of spatial momenta expressed at the origin of the world. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oinertias | |
Rigid Body Inertia supported by the joint expressed in the world frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oYcrb | |
Composite Rigid Body Inertia expressed in the world frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) Ycrb | |
Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint.. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (int) const raint_ind | |
PINOCCHIO_ALIGNED_STD_VECTOR (int) const raints_supported_dim | |
PINOCCHIO_ALIGNED_STD_VECTOR (int) par_cons_ind | |
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector |
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) B | |
Combined variations of the inertia matrix consistent with Christoffel symbols. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) doYcrb | |
Time variation of Composite Rigid Body Inertia expressed in the world frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) dYcrb | |
Vector of sub-tree composite rigid body inertia time derivatives . See Data::Ycrb for more details. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) extended_motion_propagator2 | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Ivx | |
Left variation of the inertia matrix. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oK | |
Inverse articulated inertia. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oL | |
Acceleration propagator. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oYaba | |
Articulated Body Inertia matrix of the subtree expressed in the WORLD coordinate frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) spatial_inv_inertia | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) vxI | |
Right variation of the inertia matrix. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Yaba | |
Articulated Body Inertia matrix of the subtree expressed in the LOCAL coordinate frame of the joint. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x) Fcrb | |
Spatial forces set, used in CRBA and CCRBA. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x) KA | |
PINOCCHIO_ALIGNED_STD_VECTOR (MatrixXs) KAS | |
PINOCCHIO_ALIGNED_STD_VECTOR (MatrixXs) LA | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a | |
Vector of joint accelerations expressed in the local frame of the joint. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_bias | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_gf | |
Vector of joint accelerations due to the gravity field. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa | |
Vector of joint accelerations expressed at the origin of the world. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_augmented | |
Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_drift | |
Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_gf | |
Vector of joint accelerations expressed at the origin of the world including the gravity contribution. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) ov | |
Vector of joint velocities expressed at the origin of the world. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) v | |
Vector of joint velocities expressed in the local frame of the joint. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) iMf | |
Vector of joint placements wrt to algorithm end effector. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) liMi | |
Vector of relative joint placements (wrt the body parent). More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMf | |
Vector of absolute operationnel frame placements (wrt the world). More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMi | |
Vector of absolute joint placements (wrt the world). More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_ancestor | |
PINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_descendant | |
PINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_joints | |
PINOCCHIO_ALIGNED_STD_VECTOR (size_t) joints_supporting_constraints | |
PINOCCHIO_ALIGNED_STD_VECTOR (std::set< size_t >) const raints_supported | |
PINOCCHIO_ALIGNED_STD_VECTOR (std::vector< size_t >) const raints_on_joint | |
PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) acom | |
Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint and expressed in the joint frame . The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) com | |
Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint and expressed in the joint frame . The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) vcom | |
Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint and expressed in the joint frame . The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (VectorXs) lA | |
PINOCCHIO_ALIGNED_STD_VECTOR (VectorXs) lambdaA | |
Public Attributes | |
Matrix6x | Ag |
Centroidal Momentum Matrix. More... | |
BodyRegressorType | bodyRegressor |
Body regressor. More... | |
MatrixXs | C |
The Coriolis matrix (a square matrix of dim model.nv). More... | |
ContactCholeskyDecomposition | contact_chol |
Cholesky decomposition of the KKT contact matrix. More... | |
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef ContactCholeskyDecompositionTpl< Scalar, Options > | ContactCholeskyDecomposition |
VectorXs | D |
Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition. More... | |
Tensor3x | d2tau_dadq |
SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration. More... | |
Tensor3x | d2tau_dqdq |
SO Partial derivative of the joint torque vector with respect to the joint configuration. More... | |
Tensor3x | d2tau_dqdv |
SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity. More... | |
Tensor3x | d2tau_dvdv |
SO Partial derivative of the joint torque vector with respect to the joint velocity. More... | |
MatrixXs | dac_da |
MatrixXs | dac_dq |
MatrixXs | dac_dv |
Matrix6x | dAdq |
Variation of the spatial acceleration set with respect to the joint configuration. More... | |
Matrix6x | dAdv |
Variation of the spatial acceleration set with respect to the joint velocity. More... | |
Matrix6x | dAg |
Centroidal Momentum Matrix Time Variation. More... | |
Matrix6x | ddJ |
Second derivative of the Jacobian with respect to the time. More... | |
TangentVectorType | ddq |
The joint accelerations computed from ABA. More... | |
RowMatrixXs | ddq_dq |
Partial derivative of the joint acceleration vector with respect to the joint configuration. More... | |
RowMatrixXs | ddq_dtau |
Partial derivative of the joint acceleration vector with respect to the joint torques. More... | |
RowMatrixXs | ddq_dv |
Partial derivative of the joint acceleration vector with respect to the joint velocity. More... | |
Matrix6x | dFda |
Variation of the forceset with respect to the joint acceleration. More... | |
Matrix6x | dFdq |
Variation of the forceset with respect to the joint configuration. More... | |
Matrix6x | dFdv |
Variation of the forceset with respect to the joint velocity. More... | |
Matrix6x | dHdq |
Variation of the spatial momenta set with respect to the joint configuration. More... | |
Force | dhg |
Centroidal momentum time derivative. More... | |
VectorXs | diff_lambda_c |
Difference between two consecutive iterations of the proxy algorithm. More... | |
VectorXs | Dinv |
Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition. More... | |
Matrix6x | dJ |
Derivative of the Jacobian with respect to the time. More... | |
MatrixXs | dlambda_dq |
Partial derivatives of the constraints forces with respect to the joint configuration, velocity and torque;. More... | |
MatrixXs | dlambda_dtau |
MatrixXs | dlambda_dv |
MatrixXs | dlambda_dx_prox |
TangentVectorType | dq_after |
Generalized velocity after impact. More... | |
MatrixXs | drhs_prox |
RowMatrixXs | dtau_dq |
Partial derivative of the joint torque vector with respect to the joint configuration. More... | |
RowMatrixXs | dtau_dv |
Partial derivative of the joint torque vector with respect to the joint velocity. More... | |
MatrixXs | dvc_dq |
Stack of partial derivative of the contact frame acceleration with respect to the joint parameters. More... | |
Matrix6x | dVdq |
Variation of the spatial velocity set with respect to the joint configuration. More... | |
std::vector< int > | end_idx_v_fromRow |
End index of the Joint motion subspace. More... | |
extended_motion_propagator | |
VectorXs | g |
Vector of generalized gravity (dim model.nv). More... | |
Force | hg |
Centroidal momentum quantity. More... | |
Inertia | Ig |
Centroidal Composite Rigid Body Inertia. More... | |
VectorXs | impulse_c |
Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics. More... | |
Matrix6x | IS |
Used in computeMinverse. More... | |
Matrix6 | Itmp |
Temporary for derivative algorithms. More... | |
Matrix6x | J |
Jacobian of joint placements. More... | |
Matrix3x | Jcom |
Jacobian of center of mass. More... | |
MatrixXs | JMinvJt |
Inverse of the operational-space inertia matrix. More... | |
PINOCCHIO_COMPILER_DIAGNOSTIC_POP JointDataVector | joints |
Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor. More... | |
MatrixXs | jointTorqueRegressor |
Matrix related to joint torque regressor. More... | |
Tensor3x | kinematic_hessians |
Tensor containing the kinematic Hessian of all the joints. More... | |
Scalar | kinetic_energy |
Kinetic energy of the system. More... | |
VectorXs | lambda_c |
Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics. More... | |
VectorXs | lambda_c_prox |
Proximal Lagrange Multipliers used in the computation of the Forward Dynamics computations. More... | |
std::vector< int > | lastChild |
Index of the last child (for CRBA) More... | |
Eigen::LLT< MatrixXs > | llt_JMinvJt |
Cholesky decompostion of . More... | |
MatrixXs | M |
The joint space inertia matrix (a square matrix of dim model.nv). More... | |
Matrix6 | M6tmp |
Temporary for derivative algorithms. More... | |
RowMatrix6 | M6tmpR |
RowMatrix6 | M6tmpR2 |
std::vector< Scalar > | mass |
Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint . The element mass[0] corresponds to the total mass of the model. More... | |
Scalar | mechanical_energy |
Mechanical energy of the system. More... | |
RowMatrixXs | Minv |
The inverse of the joint space inertia matrix (a square matrix of dim model.nv). More... | |
VectorXs | nle |
Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects. More... | |
std::vector< int > | nvSubtree |
Dimension of the subtree motion space (for CRBA) More... | |
std::vector< int > | nvSubtree_fromRow |
Subtree of the current row index (used in Cholesky Decomposition). More... | |
MatrixXs | osim |
Operational space inertia matrix;. More... | |
Eigen::LLT< MatrixXs > | osim_llt |
oYaba_contact | |
Articulated Body Inertia matrix with contact apparent inertia, of a given the subtree and expressed in the WORLD coordinate frame. More... | |
std::vector< int > | parents_fromRow |
First previous non-zero row in M (used in Cholesky Decomposition). More... | |
Scalar | potential_energy |
Potential energy of the system. More... | |
VectorXs | primal_dual_contact_solution |
RHS vector when solving the contact dynamics KKT problem. More... | |
VectorXs | primal_rhs_contact |
Primal RHS in contact dynamic equations. More... | |
Matrix6x | psid |
psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj More... | |
Matrix6x | psidd |
psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Matrix6x | SDinv |
Used in computeMinverse. More... | |
MatrixXs | sDUiJt |
Temporary corresponding to . More... | |
std::vector< int > | start_idx_v_fromRow |
Starting index of the Joint motion subspace. More... | |
Matrix3x | staticRegressor |
Matrix related to static regressor. More... | |
std::vector< std::vector< int > > | supports_fromRow |
Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it. More... | |
TangentVectorType | tau |
Vector of joint torques (dim model.nv). More... | |
VectorXs | tmp |
Temporary of size NV used in Cholesky Decomposition. More... | |
VectorXs | torque_residual |
Temporary corresponding to the residual torque . More... | |
TangentVectorType | u |
Intermediate quantity corresponding to apparent torque [ABA]. More... | |
MatrixXs | U |
Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition. More... | |
Matrix6x | UDinv |
Used in computeMinverse. More... | |
Private Member Functions | |
void | computeLastChild (const Model &model) |
void | computeParents_fromRow (const Model &model) |
void | computeSupports_fromRow (const Model &model) |
Definition at line 25 of file context/generic.hpp.
typedef Eigen::Matrix<Scalar, 6, 10, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::BodyRegressorType |
The type of the body regressor.
Definition at line 101 of file multibody/data.hpp.
typedef VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ConfigVectorType |
Dense vectorized version of a joint configuration vector.
Definition at line 83 of file multibody/data.hpp.
typedef ForceTpl<Scalar, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Force |
Definition at line 58 of file multibody/data.hpp.
typedef FrameTpl<Scalar, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Frame |
Definition at line 60 of file multibody/data.hpp.
typedef pinocchio::FrameIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::FrameIndex |
Definition at line 65 of file multibody/data.hpp.
typedef pinocchio::GeomIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::GeomIndex |
Definition at line 64 of file multibody/data.hpp.
typedef pinocchio::Index pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Index |
Definition at line 62 of file multibody/data.hpp.
typedef std::vector<Index> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::IndexVector |
Definition at line 66 of file multibody/data.hpp.
typedef InertiaTpl<Scalar, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Inertia |
Definition at line 59 of file multibody/data.hpp.
typedef JointCollectionTpl<Scalar, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointCollection |
Definition at line 52 of file multibody/data.hpp.
typedef JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointData |
Definition at line 69 of file multibody/data.hpp.
typedef pinocchio::JointIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointIndex |
Definition at line 63 of file multibody/data.hpp.
typedef JointModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointModel |
Definition at line 68 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix3x |
The 3d jacobian type (temporary)
Definition at line 93 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 6, 6, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix6 |
Definition at line 95 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix6x |
The 6d jacobian type (temporary)
Definition at line 91 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::MatrixXs |
Definition at line 74 of file multibody/data.hpp.
typedef ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Model |
Definition at line 54 of file multibody/data.hpp.
typedef MotionTpl<Scalar, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Motion |
Definition at line 57 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 6, 6, Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::RowMatrix6 |
Definition at line 96 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::RowMatrixXs |
Definition at line 98 of file multibody/data.hpp.
typedef SE3Tpl<Scalar, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::SE3 |
Definition at line 56 of file multibody/data.hpp.
typedef VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::TangentVectorType |
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).
Definition at line 88 of file multibody/data.hpp.
typedef Tensor<Scalar, 3, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Tensor3x |
The type of Tensor for Kinematics and Dynamics second order derivatives
Definition at line 104 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 3, 1, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector3 |
Definition at line 76 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 6, 1, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector6 |
Definition at line 77 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 6, 1, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector6c |
Definition at line 79 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 1, 6, Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector6r |
Definition at line 80 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::VectorXs |
Definition at line 75 of file multibody/data.hpp.
anonymous enum |
Enumerator | |
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Options |
Definition at line 47 of file multibody/data.hpp.
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explicit |
Default constructor of pinocchio::Data from a pinocchio::Model.
[in] | model | The model structure of the rigid body system. |
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inline |
Default constructor.
Definition at line 583 of file multibody/data.hpp.
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private |
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private |
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private |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of spatial momenta expressed in the local frame of the joint.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of body forces expressed at the origin of the world. For each body, the force represents the sum of all external forces acting on the body.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body. These forces are used in the context of augmented Lagrangian algorithms.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of spatial momenta expressed at the origin of the world.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Inertia | ) |
Rigid Body Inertia supported by the joint expressed in the world frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Inertia | ) |
Composite Rigid Body Inertia expressed in the world frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Inertia | ) |
Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | int | ) | const |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | int | ) | const |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | int | ) |
typedef pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | JointData | ) |
typedef pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | JointModel | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Combined variations of the inertia matrix consistent with Christoffel symbols.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Time variation of Composite Rigid Body Inertia expressed in the world frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Vector of sub-tree composite rigid body inertia time derivatives . See Data::Ycrb for more details.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Left variation of the inertia matrix.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Inverse articulated inertia.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Acceleration propagator.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Articulated Body Inertia matrix of the subtree expressed in the WORLD coordinate frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Right variation of the inertia matrix.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Articulated Body Inertia matrix of the subtree expressed in the LOCAL coordinate frame of the joint.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6x | ) |
Spatial forces set, used in CRBA and CCRBA.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6x | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | MatrixXs | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | MatrixXs | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed in the local frame of the joint.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations due to the gravity field.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed at the origin of the world.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed at the origin of the world including the gravity contribution.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint velocities expressed at the origin of the world.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint velocities expressed in the local frame of the joint.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of joint placements wrt to algorithm end effector.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of relative joint placements (wrt the body parent).
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of absolute operationnel frame placements (wrt the world).
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of absolute joint placements (wrt the world).
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | size_t | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | size_t | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | size_t | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | size_t | ) | const |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | std::set< size_t > | ) | const |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | std::vector< size_t > | ) | const |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Vector3 | ) |
Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint and expressed in the joint frame . The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Vector3 | ) |
Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint and expressed in the joint frame . The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Vector3 | ) |
Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint and expressed in the joint frame . The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | VectorXs | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | VectorXs | ) |
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Ag |
Centroidal Momentum Matrix.
Definition at line 283 of file multibody/data.hpp.
BodyRegressorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::bodyRegressor |
Body regressor.
Definition at line 496 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::C |
The Coriolis matrix (a square matrix of dim model.nv).
Definition at line 204 of file multibody/data.hpp.
ContactCholeskyDecomposition pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::contact_chol |
Cholesky decomposition of the KKT contact matrix.
Definition at line 525 of file multibody/data.hpp.
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef ContactCholeskyDecompositionTpl<Scalar, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ContactCholeskyDecomposition |
Definition at line 109 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::D |
Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition.
Definition at line 331 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dadq |
SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration.
Definition at line 555 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dqdq |
SO Partial derivative of the joint torque vector with respect to the joint configuration.
Definition at line 541 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dqdv |
SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity.
Definition at line 549 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dvdv |
SO Partial derivative of the joint torque vector with respect to the joint velocity.
Definition at line 545 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dac_da |
Definition at line 408 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dac_dq |
Definition at line 406 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dac_dv |
Definition at line 407 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAdq |
Variation of the spatial acceleration set with respect to the joint configuration.
Definition at line 379 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAdv |
Variation of the spatial acceleration set with respect to the joint velocity.
Definition at line 382 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAg |
Centroidal Momentum Matrix Time Variation.
Definition at line 289 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddJ |
Second derivative of the Jacobian with respect to the time.
Definition at line 365 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq |
The joint accelerations computed from ABA.
Definition at line 255 of file multibody/data.hpp.
RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq_dq |
Partial derivative of the joint acceleration vector with respect to the joint configuration.
Definition at line 393 of file multibody/data.hpp.
RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq_dtau |
Partial derivative of the joint acceleration vector with respect to the joint torques.
Definition at line 401 of file multibody/data.hpp.
RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq_dv |
Partial derivative of the joint acceleration vector with respect to the joint velocity.
Definition at line 397 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFda |
Variation of the forceset with respect to the joint acceleration.
Definition at line 216 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFdq |
Variation of the forceset with respect to the joint configuration.
Definition at line 210 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFdv |
Variation of the forceset with respect to the joint velocity.
Definition at line 213 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dHdq |
Variation of the spatial momenta set with respect to the joint configuration.
Definition at line 207 of file multibody/data.hpp.
Force pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dhg |
Centroidal momentum time derivative.
Definition at line 304 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::diff_lambda_c |
Difference between two consecutive iterations of the proxy algorithm.
Definition at line 477 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Dinv |
Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition.
Definition at line 335 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dJ |
Derivative of the Jacobian with respect to the time.
Definition at line 362 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dlambda_dq |
Partial derivatives of the constraints forces with respect to the joint configuration, velocity and torque;.
Definition at line 415 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dlambda_dtau |
Definition at line 417 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dlambda_dv |
Definition at line 416 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dlambda_dx_prox |
Definition at line 418 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dq_after |
Generalized velocity after impact.
Definition at line 486 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::drhs_prox |
Definition at line 418 of file multibody/data.hpp.
RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dtau_dq |
Partial derivative of the joint torque vector with respect to the joint configuration.
Definition at line 386 of file multibody/data.hpp.
RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dtau_dv |
Partial derivative of the joint torque vector with respect to the joint velocity.
Definition at line 389 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dvc_dq |
Stack of partial derivative of the contact frame acceleration with respect to the joint parameters.
Definition at line 405 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dVdq |
Variation of the spatial velocity set with respect to the joint configuration.
Definition at line 376 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::end_idx_v_fromRow |
End index of the Joint motion subspace.
Definition at line 324 of file multibody/data.hpp.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::extended_motion_propagator |
Definition at line 562 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::g |
Vector of generalized gravity (dim model.nv).
Definition at line 183 of file multibody/data.hpp.
Force pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::hg |
Centroidal momentum quantity.
Definition at line 296 of file multibody/data.hpp.
Inertia pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Ig |
Centroidal Composite Rigid Body Inertia.
Definition at line 309 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::impulse_c |
Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.
Definition at line 490 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::IS |
Used in computeMinverse.
Definition at line 225 of file multibody/data.hpp.
Matrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Itmp |
Temporary for derivative algorithms.
Definition at line 247 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::J |
Jacobian of joint placements.
Definition at line 359 of file multibody/data.hpp.
Matrix3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Jcom |
Jacobian of center of mass.
Definition at line 449 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JMinvJt |
Inverse of the operational-space inertia matrix.
Definition at line 463 of file multibody/data.hpp.
PINOCCHIO_COMPILER_DIAGNOSTIC_POP JointDataVector pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::joints |
Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.
Definition at line 114 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::jointTorqueRegressor |
Matrix related to joint torque regressor.
Definition at line 499 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::kinematic_hessians |
Tensor containing the kinematic Hessian of all the joints.
Definition at line 518 of file multibody/data.hpp.
Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::kinetic_energy |
Kinetic energy of the system.
Definition at line 452 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::lambda_c |
Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.
Definition at line 470 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::lambda_c_prox |
Proximal Lagrange Multipliers used in the computation of the Forward Dynamics computations.
Definition at line 474 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::lastChild |
Index of the last child (for CRBA)
Definition at line 315 of file multibody/data.hpp.
Eigen::LLT<MatrixXs> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::llt_JMinvJt |
Cholesky decompostion of .
Definition at line 466 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M |
The joint space inertia matrix (a square matrix of dim model.nv).
Definition at line 198 of file multibody/data.hpp.
Matrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmp |
Temporary for derivative algorithms.
Definition at line 250 of file multibody/data.hpp.
RowMatrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmpR |
Definition at line 251 of file multibody/data.hpp.
RowMatrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmpR2 |
Definition at line 252 of file multibody/data.hpp.
std::vector<Scalar> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::mass |
Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint . The element mass[0] corresponds to the total mass of the model.
Definition at line 443 of file multibody/data.hpp.
Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::mechanical_energy |
Mechanical energy of the system.
Definition at line 458 of file multibody/data.hpp.
RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Minv |
The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
Definition at line 201 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nle |
Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.
Definition at line 178 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nvSubtree |
Dimension of the subtree motion space (for CRBA)
Definition at line 318 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nvSubtree_fromRow |
Subtree of the current row index (used in Cholesky Decomposition).
Definition at line 350 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::osim |
Operational space inertia matrix;.
Definition at line 411 of file multibody/data.hpp.
Eigen::LLT<MatrixXs> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::osim_llt |
Definition at line 509 of file multibody/data.hpp.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::oYaba_contact |
Articulated Body Inertia matrix with contact apparent inertia, of a given the subtree and expressed in the WORLD coordinate frame.
Definition at line 269 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::parents_fromRow |
First previous non-zero row in M (used in Cholesky Decomposition).
Definition at line 341 of file multibody/data.hpp.
Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::potential_energy |
Potential energy of the system.
Definition at line 455 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::primal_dual_contact_solution |
RHS vector when solving the contact dynamics KKT problem.
Definition at line 528 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::primal_rhs_contact |
Primal RHS in contact dynamic equations.
Definition at line 531 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::psid |
psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj
Definition at line 369 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::psidd |
psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj
Definition at line 373 of file multibody/data.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Scalar |
Definition at line 46 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::SDinv |
Used in computeMinverse.
Definition at line 219 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::sDUiJt |
Temporary corresponding to .
Definition at line 480 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::start_idx_v_fromRow |
Starting index of the Joint motion subspace.
Definition at line 321 of file multibody/data.hpp.
Matrix3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::staticRegressor |
Matrix related to static regressor.
Definition at line 493 of file multibody/data.hpp.
std::vector<std::vector<int> > pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::supports_fromRow |
Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it.
Definition at line 347 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::tau |
Vector of joint torques (dim model.nv).
Definition at line 172 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::tmp |
Temporary of size NV used in Cholesky Decomposition.
Definition at line 338 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::torque_residual |
Temporary corresponding to the residual torque .
Definition at line 483 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::u |
Intermediate quantity corresponding to apparent torque [ABA].
Definition at line 278 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::U |
Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.
Definition at line 328 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::UDinv |
Used in computeMinverse.
Definition at line 222 of file multibody/data.hpp.