Program Listing for File joint-basic-visitors.hpp
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//
// Copyright (c) 2016,2018 CNRS
//
#ifndef __pinocchio_joint_basic_visitors_hpp__
#define __pinocchio_joint_basic_visitors_hpp__
#include "pinocchio/multibody/joint/fwd.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline JointDataTpl<Scalar,Options,JointCollectionTpl>
createData(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType>
inline void calc_zero_order(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
const Eigen::MatrixBase<ConfigVectorType> & q);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline void calc_first_order(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename Matrix6Type>
inline void calc_aba(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
const Eigen::MatrixBase<Matrix6Type> & I,
const bool update_I);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline int nv(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline int nq(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline const std::vector<bool> hasConfigurationLimit(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline const std::vector<bool> hasConfigurationLimitInTangent(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline int idx_q(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline int idx_v(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline JointIndex id(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline void setIndexes(JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel, JointIndex id, int q,int v);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline std::string shortname(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename NewScalar, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
typename CastType< NewScalar,JointModelTpl<Scalar,Options,JointCollectionTpl> >::type
cast_joint(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointModelDerived>
bool isEqual(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel_generic,
const JointModelBase<JointModelDerived> & jmodel);
template<typename NewScalar, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointModelDerived>
bool hasSameIndexes(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel_generic,
const JointModelBase<JointModelDerived> & jmodel);
//
// Visitors on JointDatas
//
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline ConstraintTpl<Eigen::Dynamic,Scalar,Options>
constraint_xd(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline SE3Tpl<Scalar,Options>
joint_transform(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline MotionTpl<Scalar,Options>
motion(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline MotionTpl<Scalar,Options>
bias(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
u_inertia(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options>
dinv_inertia(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
udinv_inertia(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointDataDerived>
bool isEqual(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jmodel_generic,
const JointDataBase<JointDataDerived> & jmodel);
} // namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
// Included later
// #include "pinocchio/multibody/joint/joint-basic-visitors.hxx"
#endif // ifndef __pinocchio_joint_basic_visitors_hpp__