Program Listing for File kinematics.hpp

↰ Return to documentation for file (include/pinocchio/algorithm/kinematics.hpp)

//
// Copyright (c) 2015-2019 CNRS INRIA
//

#ifndef __pinocchio_kinematics_hpp__
#define __pinocchio_kinematics_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"

namespace pinocchio
{

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline void updateGlobalPlacements(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 forwardKinematics(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 void forwardKinematics(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 TangentVectorType1, typename TangentVectorType2>
  inline void forwardKinematics(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>
  inline MotionTpl<Scalar, Options>
  getVelocity(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
              const DataTpl<Scalar,Options,JointCollectionTpl> & data,
              const JointIndex jointId,
              const ReferenceFrame rf = LOCAL);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline MotionTpl<Scalar, Options>
  getAcceleration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const JointIndex jointId,
                  const ReferenceFrame rf = LOCAL);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline MotionTpl<Scalar, Options>
  getClassicalAcceleration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                           const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                           const JointIndex jointId,
                           const ReferenceFrame rf = LOCAL);

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/kinematics.hxx"


#endif // ifndef __pinocchio_kinematics_hpp__