Program Listing for File rnea.hpp

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//
// Copyright (c) 2015-2020 CNRS INRIA
//

#ifndef __pinocchio_algorithm_rnea_hpp__
#define __pinocchio_algorithm_rnea_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, typename TangentVectorType1, typename TangentVectorType2>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  rnea(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 ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, typename ForceDerived>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  rnea(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<ForceDerived> & fext);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  nonLinearEffects(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>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  computeGeneralizedGravity(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>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  computeStaticTorque(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                 DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                 const Eigen::MatrixBase<ConfigVectorType> & q,
                                 const container::aligned_vector< ForceTpl<Scalar,Options> > & fext);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
  computeCoriolisMatrix(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>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
  getCoriolisMatrix(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                    DataTpl<Scalar,Options,JointCollectionTpl> & data);

} // namespace pinocchio

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

#endif // ifndef __pinocchio_algorithm_rnea_hpp__