Program Listing for File kinematics-derivatives.hpp
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//
// Copyright (c) 2017-2019 CNRS INRIA
//
#ifndef __pinocchio_algorithm_kinematics_derivatives_hpp__
#define __pinocchio_algorithm_kinematics_derivatives_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
inline void computeForwardKinematicsDerivatives(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);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
inline void getJointVelocityDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Model::JointIndex jointId,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4>
inline void getJointAccelerationDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Model::JointIndex jointId,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq,
const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv,
const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4, typename Matrix6xOut5>
inline void getJointAccelerationDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Model::JointIndex jointId,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv,
const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq,
const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv,
const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline void
computeJointKinematicHessians(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline void
computeJointKinematicHessians(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q)
{
computeJointJacobians(model,data,q);
computeJointKinematicHessians(model,data);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline void
getJointKinematicHessian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Model::JointIndex joint_id,
const ReferenceFrame rf,
Tensor<Scalar,3,Options> & kinematic_hessian);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline Tensor<Scalar,3,Options>
getJointKinematicHessian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Model::JointIndex joint_id,
const ReferenceFrame rf)
{
typedef Tensor<Scalar,3,Options> ReturnType;
ReturnType res(6,model.nv,model.nv); res.setZero();
getJointKinematicHessian(model,data,joint_id,rf,res);
return res;
}
} // namespace pinocchio
#include "pinocchio/algorithm/kinematics-derivatives.hxx"
#endif // ifndef __pinocchio_algorithm_kinematics_derivatives_hpp__