Template Struct DataTpl

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
struct DataTpl : public pinocchio::serialization::Serializable<DataTpl<_Scalar, _Options, JointCollectionTpl>>

Public Types

Values:

enumerator Options
typedef JointCollectionTpl<Scalar, Options> JointCollection
typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef SE3Tpl<Scalar, Options> SE3
typedef MotionTpl<Scalar, Options> Motion
typedef ForceTpl<Scalar, Options> Force
typedef InertiaTpl<Scalar, Options> Inertia
typedef FrameTpl<Scalar, Options> Frame
typedef pinocchio::Index Index
typedef pinocchio::JointIndex JointIndex
typedef pinocchio::GeomIndex GeomIndex
typedef pinocchio::FrameIndex FrameIndex
typedef std::vector<Index> IndexVector
typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel
typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointData
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs
typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3
typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6c
typedef Eigen::Matrix<Scalar, 1, 6, Eigen::RowMajor | Options> Vector6r
typedef VectorXs ConfigVectorType

Dense vectorized version of a joint configuration vector.

typedef VectorXs TangentVectorType

Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).

typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6x

The 6d jacobian type (temporary)

typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x

The 3d jacobian type (temporary)

typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6
typedef Eigen::Matrix<Scalar, 6, 6, Eigen::RowMajor | Options> RowMatrix6
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Options> RowMatrixXs
typedef Eigen::Matrix<Scalar, 6, 10, Options> BodyRegressorType

The type of the body regressor.

typedef Tensor<Scalar, 3, Options> Tensor3x

The type of Tensor for Kinematics and Dynamics second order derivatives

Public Functions

typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a

Vector of joint accelerations expressed at the centers of the joints frames.

PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa

Vector of joint accelerations expressed at the origin of the world.

PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_gf

Vector of joint accelerations due to the gravity field.

PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_gf

Vector of joint accelerations expressed at the origin of the world including gravity contribution.

PINOCCHIO_ALIGNED_STD_VECTOR (Motion) v

Vector of joint velocities expressed at the centers of the joints.

PINOCCHIO_ALIGNED_STD_VECTOR (Motion) ov

Vector of joint velocities expressed at the origin.

PINOCCHIO_ALIGNED_STD_VECTOR (Force) f

Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.

PINOCCHIO_ALIGNED_STD_VECTOR (Force) of

Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body.

PINOCCHIO_ALIGNED_STD_VECTOR (Force) h

Vector of spatial momenta expressed in the local frame of the joint.

PINOCCHIO_ALIGNED_STD_VECTOR (Force) oh

Vector of spatial momenta expressed in the world frame.

PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMi

Vector of absolute joint placements (wrt the world).

PINOCCHIO_ALIGNED_STD_VECTOR (SE3) liMi

Vector of relative joint placements (wrt the body parent).

PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMf

Vector of absolute operationnel frame placements (wrt the world).

PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) Ycrb

Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..

PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) dYcrb

Vector of sub-tree composite rigid body inertia time derivatives \( \dot{Y}_{crb}\). See Data::Ycrb for more details.

PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) vxI

Right variation of the inertia matrix.

PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Ivx

Left variation of the inertia matrix.

PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) B

Combined variations of the inertia matrix \( B_i = \frac{1}{2} [(v_i\times∗)I_i + (I_i v_i)\times^{∗} − I_i(v_i\times)] \) consistent with Christoffel symbols.

PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oinertias

Rigid Body Inertia supported by the joint expressed in the world frame.

PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oYcrb

Composite Rigid Body Inertia expressed in the world frame.

PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) doYcrb

Time variation of Composite Rigid Body Inertia expressed in the world frame.

PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Yaba

Inertia matrix of the subtree expressed as dense matrix [ABA].

PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x) Fcrb

Spatial forces set, used in CRBA and CCRBA.

PINOCCHIO_ALIGNED_STD_VECTOR (SE3) iMf

Vector of joint placements wrt to algorithm end effector.

PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) com

Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.

PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) vcom

Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.

PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) acom

Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.

explicit DataTpl(const Model &model)

Default constructor of pinocchio::Data from a pinocchio::Model.

Parameters:

model – [in] The model structure of the rigid body system.

inline DataTpl()

Default constructor.

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
JointDataVector joints

Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.

TangentVectorType tau

Vector of joint torques (dim model.nv).

VectorXs nle

Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.

Note

In the multibody dynamics equation \( M\ddot{q} + b(q, \dot{q}) = \tau \), the non linear effects are associated to the term \(b\).

VectorXs g

Vector of generalized gravity (dim model.nv).

Note

In the multibody dynamics equation \( M\ddot{q} + c(q, \dot{q}) + g(q) = \tau \), the gravity effect is associated to the \(g\) term.

MatrixXs M

The joint space inertia matrix (a square matrix of dim model.nv).

RowMatrixXs Minv

The inverse of the joint space inertia matrix (a square matrix of dim model.nv).

MatrixXs C

The Coriolis matrix (a square matrix of dim model.nv).

Matrix6x dHdq

Variation of the spatial momenta with respect to the joint configuration.

Matrix6x dFdq

Variation of the forceset with respect to the joint configuration.

Matrix6x dFdv

Variation of the forceset with respect to the joint velocity.

Matrix6x dFda

Variation of the forceset with respect to the joint acceleration.

Matrix6x SDinv

Used in computeMinverse.

Matrix6x UDinv

Used in computeMinverse.

Matrix6x IS

Used in computeMinverse.

Matrix6 Itmp

Temporary for derivative algorithms.

Matrix6 M6tmp

Temporary for derivative algorithms.

RowMatrix6 M6tmpR
RowMatrix6 M6tmpR2
TangentVectorType ddq

The joint accelerations computed from ABA.

TangentVectorType u

Intermediate quantity corresponding to apparent torque [ABA].

Matrix6x Ag

Centroidal Momentum Matrix.

Note

\( hg = A_g \dot{q}\) maps the joint velocity set to the centroidal momentum.

Matrix6x dAg

Centroidal Momentum Matrix Time Variation.

Note

\( \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}\) maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.

Force hg

Centroidal momentum quantity.

Note

The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).

Note

\( h_g = \left( m\dot{c}, L_{g} \right); \). \( h_g \) is the stack of the linear momentum and the angular momemtum vectors.

Force dhg

Centroidal momentum time derivative.

Note

The centroidal momentum time derivative is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).

Note

\( \dot{h_g} = \left( m\ddot{c}, \dot{L}_{g} \right); \). \( \dot{h_g} \) is the stack of the linear momentum variation and the angular momemtum variation.

Inertia Ig

Centroidal Composite Rigid Body Inertia.

Note

\( hg = Ig v_{\text{mean}}\) map a mean velocity to the current centroidal momentum quantity.

std::vector<int> lastChild

Index of the last child (for CRBA)

std::vector<int> nvSubtree

Dimension of the subtree motion space (for CRBA)

std::vector<int> start_idx_v_fromRow

Starting index of the Joint motion subspace.

std::vector<int> end_idx_v_fromRow

End index of the Joint motion subspace.

MatrixXs U

Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.

VectorXs D

Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition.

VectorXs Dinv

Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition.

VectorXs tmp

Temporary of size NV used in Cholesky Decomposition.

std::vector<int> parents_fromRow

First previous non-zero row in M (used in Cholesky Decomposition).

std::vector<std::vector<int>> supports_fromRow

Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it.

std::vector<int> nvSubtree_fromRow

Subtree of the current row index (used in Cholesky Decomposition).

Matrix6x J

Jacobian of joint placements.

Note

The columns of J corresponds to the basis of the spatial velocities of each joint and expressed at the origin of the inertial frame. In other words, if \( v_{J_{i}} = S_{i} \dot{q}_{i}\) is the relative velocity of the joint i regarding to its parent, then \(J = \begin{bmatrix} ^{0}X_{1} S_{1} & \cdots & ^{0}X_{i} S_{i} & \cdots & ^{0}X_{\text{nj}} S_{\text{nj}} \end{bmatrix} \). This Jacobian has no special meaning. To get the jacobian of a precise joint, you need to call pinocchio::getJointJacobian

Matrix6x dJ

Derivative of the Jacobian with respect to the time.

Matrix6x ddJ

Second derivative of the Jacobian with respect to the time.

Matrix6x psid

psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj

Matrix6x psidd

psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj

Matrix6x dVdq

Variation of the spatial velocity set with respect to the joint configuration.

Matrix6x dAdq

Variation of the spatial acceleration set with respect to the joint configuration.

Matrix6x dAdv

Variation of the spatial acceleration set with respect to the joint velocity.

MatrixXs dtau_dq

Partial derivative of the joint torque vector with respect to the joint configuration.

MatrixXs dtau_dv

Partial derivative of the joint torque vector with respect to the joint velocity.

MatrixXs ddq_dq

Partial derivative of the joint acceleration vector with respect to the joint configuration.

MatrixXs ddq_dv

Partial derivative of the joint acceleration vector with respect to the joint velocity.

std::vector<Scalar> mass

Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \( j \). The element mass[0] corresponds to the total mass of the model.

Matrix3x Jcom

Jacobian of center of mass.

Note

This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertial frame. In other words, \( v_{\text{CoM}} = J_{\text{CoM}} \dot{q}\).

Scalar kinetic_energy

Kinetic energy of the model.

Scalar potential_energy

Potential energy of the model.

MatrixXs JMinvJt

Inverse of the operational-space inertia matrix.

Eigen::LLT<MatrixXs> llt_JMinvJt

Cholesky decompostion of \(JMinvJt\).

VectorXs lambda_c

Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.

MatrixXs sDUiJt

Temporary corresponding to \( \sqrt{D} U^{-1} J^{\top} \).

VectorXs torque_residual

Temporary corresponding to the residual torque \( \tau - b(q,\dot{q}) \).

TangentVectorType dq_after

Generalized velocity after impact.

VectorXs impulse_c

Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.

Matrix3x staticRegressor

Matrix related to static regressor.

BodyRegressorType bodyRegressor

Body regressor.

MatrixXs jointTorqueRegressor

Matrix related to joint torque regressor.

Tensor3x kinematic_hessians

Tensor containing the kinematic Hessian of all the joints.

Tensor3x d2tau_dqdq

SO Partial derivative of the joint torque vector with respect to the joint configuration.

Tensor3x d2tau_dvdv

SO Partial derivative of the joint torque vector with respect to the joint velocity.

Tensor3x d2tau_dqdv

SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity.

Tensor3x d2tau_dadq

SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration.