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__