Program Listing for File centroidal.hpp
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//
// Copyright (c) 2015-2019 CNRS INRIA
//
#ifndef __pinocchio_algorithm_centroidal_hpp__
#define __pinocchio_algorithm_centroidal_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalMomentum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalMomentum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v)
{
forwardKinematics(model,data,q.derived(),v.derived());
return computeCentroidalMomentum(model,data);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType>
PINOCCHIO_DEPRECATED
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v)
{
return computeCentroidalMomentum(model,data,q,v);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalMomentumTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalMomentumTimeVariation(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)
{
forwardKinematics(model,data,q,v,a);
return computeCentroidalMomentumTimeVariation(model,data);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
PINOCCHIO_DEPRECATED
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalDynamics(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)
{
return computeCentroidalMomentumTimeVariation(model,data,q,v,a);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
ccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
dccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v);
} // namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/centroidal.hxx"
#endif // ifndef __pinocchio_algorithm_centroidal_hpp__