Template Function pinocchio::computeABADerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&, const container::aligned_vector<ForceTpl<Scalar, Options>>&, const Eigen::MatrixBase<MatrixType1>&, const Eigen::MatrixBase<MatrixType2>&, const Eigen::MatrixBase<MatrixType3>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, typename MatrixType1, typename MatrixType2, typename MatrixType3>
inline void pinocchio::computeABADerivatives(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> &tau, const container::aligned_vector<ForceTpl<Scalar, Options>> &fext, const Eigen::MatrixBase<MatrixType1> &aba_partial_dq, const Eigen::MatrixBase<MatrixType2> &aba_partial_dv, const Eigen::MatrixBase<MatrixType3> &aba_partial_dtau)

The derivatives of the Articulated-Body algorithm with external forces.

See also

pinocchio::aba

Note

aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

Template Parameters:

  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

  • TangentVectorType1 – Type of the joint velocity vector.

  • TangentVectorType2 – Type of the joint torque vector.

  • MatrixType1 – Type of the matrix containing the partial derivative with respect to the joint configuration vector.

  • MatrixType2 – Type of the matrix containing the partial derivative with respect to the joint velocity vector.

  • MatrixType3 – Type of the matrix containing the partial derivative with respect to the joint torque vector.

Parameters:

  • model – [in] The model structure of the rigid body system.

  • data – [in] The data structure of the rigid body system.

  • q – [in] The joint configuration vector (dim model.nq).

  • v – [in] The joint velocity vector (dim model.nv).

  • tau – [in] The joint torque vector (dim model.nv).

  • fext – [in] External forces expressed in the local frame of the joints (dim model.njoints).

  • aba_partial_dq – [out] Partial derivative of the generalized torque vector with respect to the joint configuration.

  • aba_partial_dv – [out] Partial derivative of the generalized torque vector with respect to the joint velocity.

  • aba_partial_dtau – [out] Partial derivative of the generalized torque vector with respect to the joint torque.