Program Listing for File rnea-derivatives.hpp
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//
// Copyright (c) 2017-2019 CNRS INRIA
//
#ifndef __pinocchio_rnea_derivatives_hpp__
#define __pinocchio_rnea_derivatives_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/container/aligned-vector.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType>
inline void
computeGeneralizedGravityDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<ReturnMatrixType> & gravity_partial_dq);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType>
inline void
computeStaticTorqueDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
const Eigen::MatrixBase<ReturnMatrixType> & static_torque_partial_dq);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2,
typename MatrixType1, typename MatrixType2, typename MatrixType3>
inline void
computeRNEADerivatives(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,
const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
const Eigen::MatrixBase<MatrixType3> & rnea_partial_da);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2,
typename MatrixType1, typename MatrixType2, typename MatrixType3>
inline void
computeRNEADerivatives(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,
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
const Eigen::MatrixBase<MatrixType3> & rnea_partial_da);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
inline void
computeRNEADerivatives(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)
{
computeRNEADerivatives(model,data,q.derived(),v.derived(),a.derived(),
data.dtau_dq, data.dtau_dv, data.M);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
inline void
computeRNEADerivatives(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,
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext)
{
computeRNEADerivatives(model,data,q.derived(),v.derived(),a.derived(),fext,
data.dtau_dq, data.dtau_dv, data.M);
}
} // namespace pinocchio
#include "pinocchio/algorithm/rnea-derivatives.hxx"
#endif // ifndef __pinocchio_rnea_derivatives_hpp__