Program Listing for File jacobian.hpp
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//
// Copyright (c) 2015-2019 CNRS INRIA
//
#ifndef __pinocchio_jacobian_hpp__
#define __pinocchio_jacobian_hpp__
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
computeJointJacobians(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>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
computeJointJacobians(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6Like>
inline void getJointJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointIndex jointId,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6Like> & J);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like>
inline void computeJointJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const JointIndex jointId,
const Eigen::MatrixBase<Matrix6Like> & J);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like>
PINOCCHIO_DEPRECATED
inline void jointJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const JointIndex jointId,
const Eigen::MatrixBase<Matrix6Like> & J)
{
computeJointJacobian(model,data,q,jointId,PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,J));
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
computeJointJacobiansTimeVariation(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 Matrix6Like>
inline void getJointJacobianTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const JointIndex jointId,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6Like> & dJ);
} // namespace pinocchio
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/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/jacobian.hxx"
#endif // ifndef __pinocchio_jacobian_hpp__