Program Listing for File joint-configuration.hpp
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//
// Copyright (c) 2016-2021 CNRS INRIA
//
#ifndef __pinocchio_algorithm_joint_configuration_hpp__
#define __pinocchio_algorithm_joint_configuration_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/liegroup/liegroup.hpp"
namespace pinocchio
{
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ReturnType>
void
integrate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<ReturnType> & qout);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ReturnType>
void
integrate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<ReturnType> & qout)
{
integrate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,ReturnType>(model, q.derived(), v.derived(), qout.derived());
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
interpolate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Scalar & u,
const Eigen::MatrixBase<ReturnType> & qout);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
interpolate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Scalar & u,
const Eigen::MatrixBase<ReturnType> & qout)
{
interpolate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model, q0.derived(), q1.derived(), u, PINOCCHIO_EIGEN_CONST_CAST(ReturnType,qout));
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
difference(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Eigen::MatrixBase<ReturnType> & dvout);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
difference(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Eigen::MatrixBase<ReturnType> & dvout)
{
difference<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model,q0.derived(),q1.derived(),PINOCCHIO_EIGEN_CONST_CAST(ReturnType,dvout));
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
squaredDistance(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Eigen::MatrixBase<ReturnType> & out);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
squaredDistance(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Eigen::MatrixBase<ReturnType> & out)
{
squaredDistance<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model,q0.derived(),q1.derived(),PINOCCHIO_EIGEN_CONST_CAST(ReturnType,out));
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
randomConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits,
const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits,
const Eigen::MatrixBase<ReturnType> & qout);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType>
void
randomConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits,
const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits,
const Eigen::MatrixBase<ReturnType> & qout)
{
randomConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model, lowerLimits.derived(), upperLimits.derived(), PINOCCHIO_EIGEN_CONST_CAST(ReturnType,qout));
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ReturnType>
void
neutral(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ReturnType> & qout);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ReturnType>
void
neutral(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ReturnType> & qout)
{
neutral<LieGroupMap,Scalar,Options,JointCollectionTpl,ReturnType>(model,PINOCCHIO_EIGEN_CONST_CAST(ReturnType,qout));
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType>
void dIntegrate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg,
const AssignmentOperatorType op=SETTO);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType>
void dIntegrate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg)
{
dIntegrate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg,SETTO);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType>
void dIntegrate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg,
const AssignmentOperatorType op)
{
dIntegrate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg,op);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType1, typename JacobianMatrixType2>
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType1> & Jin,
const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
const ArgumentPosition arg);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType1, typename JacobianMatrixType2>
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType1> & Jin,
const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
const ArgumentPosition arg)
{
dIntegrateTransport<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType1,JacobianMatrixType2>(model, q.derived(), v.derived(), Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType2,Jout),arg);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType>
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType>
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg)
{
dIntegrateTransport<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVector1, typename ConfigVector2, typename JacobianMatrix>
void dDifference(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVector1> & q0,
const Eigen::MatrixBase<ConfigVector2> & q1,
const Eigen::MatrixBase<JacobianMatrix> & J,
const ArgumentPosition arg);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVector1, typename ConfigVector2, typename JacobianMatrix>
void dDifference(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVector1> & q0,
const Eigen::MatrixBase<ConfigVector2> & q1,
const Eigen::MatrixBase<JacobianMatrix> & J,
const ArgumentPosition arg)
{
dDifference<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVector1,ConfigVector2,JacobianMatrix>
(model, q0.derived(), q1.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrix,J),arg);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
Scalar squaredDistanceSum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline Scalar
squaredDistanceSum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1)
{
return squaredDistanceSum<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, q0.derived(), q1.derived());
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
Scalar distance(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline Scalar
distance(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1)
{
return distance<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, q0.derived(), q1.derived());
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline void normalize(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & qout);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline void normalize(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & qout)
{
normalize<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType>(model,PINOCCHIO_EIGEN_CONST_CAST(ConfigVectorType,qout));
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline bool isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Scalar& prec = Eigen::NumTraits<Scalar>::dummy_precision());
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline bool isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Scalar& prec = Eigen::NumTraits<Scalar>::dummy_precision())
{
return isNormalized<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType>(model,q,prec);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline bool
isSameConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q1,
const Eigen::MatrixBase<ConfigVectorIn2> & q2,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision());
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline bool
isSameConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q1,
const Eigen::MatrixBase<ConfigVectorIn2> & q2,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
{
return isSameConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, q1.derived(), q2.derived(), prec);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVector, typename JacobianMatrix>
inline void
integrateCoeffWiseJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVector> & q,
const Eigen::MatrixBase<JacobianMatrix> & jacobian);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVector, typename JacobianMatrix>
inline void
integrateCoeffWiseJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVector> & q,
const Eigen::MatrixBase<JacobianMatrix> & jacobian)
{
integrateCoeffWiseJacobian<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVector,JacobianMatrix>(model,q.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrix,jacobian));
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType)
integrate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
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 typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType)
integrate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v)
{
return integrate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType>(model, q.derived(), v.derived());
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1)
interpolate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Scalar & u);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1)
interpolate(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Scalar & u)
{
return interpolate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, q0.derived(), q1.derived(), u);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1)
difference(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1)
difference(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1)
{
return difference<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model,q0.derived(),q1.derived());
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1)
squaredDistance(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
inline typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1)
squaredDistance(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & q0,
const Eigen::MatrixBase<ConfigVectorIn2> & q1)
{
return squaredDistance<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model,q0.derived(),q1.derived());
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS((typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType))
randomConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits,
const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS((typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType))
randomConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn1> & lowerLimits,
const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits)
{
return randomConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, lowerLimits.derived(), upperLimits.derived());
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS((typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType))
randomConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS((typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType))
randomConfiguration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model)
{
return randomConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl>(model);
}
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options>
neutral(const ModelTpl<Scalar,Options,JointCollectionTpl> & model);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options>
neutral(const ModelTpl<Scalar,Options,JointCollectionTpl> & model)
{
return neutral<LieGroupMap,Scalar,Options,JointCollectionTpl>(model);
}
} // namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/joint-configuration.hxx"
#endif // ifndef __pinocchio_algorithm_joint_configuration_hpp__