Main pinocchio namespace. More...

Namespaces
	buildModels
	Build simple models.

	casadi

	cholesky
	Cholesky decompositions.

	container
	Specialized containers.

	deprecated

	deprecation

	explog

	fcl

	fix

	forceSet
	Group force actions.

	fusion

	helper

	impl

	internal

	lua
	Lua parsing.

	math

	motionSet
	Group motion actions.

	python

	quaternion
	Quaternion operations.

	regressor

	robot_wrapper

	romeo_wrapper

	rpy
	Roll-pitch-yaw operations.

	serialization

	shortcuts

	srdf
	SRDF parsing.

	urdf
	URDF parsing.

	utils

	visualize

Classes
struct	AlgorithmCheckerBase
	CRTP class describing the API of the checkers. More...

struct	AlgorithmCheckerList
	Checker having a list of Checker as input argument. More...

struct	apply_op_if

struct	apply_op_if< OP, true, default_return_value >

struct	BiasZeroTpl
	BiasZeroTpl has been replaced by MotionZeroTpl. Please use this naming instead. More...

struct	CartesianAxis

struct	CartesianProductOperation

struct	CartesianProductOperationVariantTpl
	Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant. More...

struct	CastType
	Type of the cast of a class C templated by Scalar and Options, to a new NewScalar type. This class should be specialized for each types. More...

struct	CastType< NewScalar, JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >

struct	CastType< NewScalar, JointModelMimic< JointModel > >

struct	CastType< NewScalar, JointModelPrismaticTpl< Scalar, Options, axis > >

struct	CastType< NewScalar, JointModelRevoluteTpl< Scalar, Options, axis > >

struct	CastType< NewScalar, JointModelRevoluteUnboundedTpl< Scalar, Options, axis > >

struct	CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >

struct	CodeGenABA

struct	CodeGenABADerivatives

struct	CodeGenBase

struct	CodeGenCRBA

struct	CodeGenDDifference

struct	CodeGenDifference

struct	CodeGenIntegrate

struct	CodeGenMinv

struct	CodeGenRNEA

struct	CodeGenRNEADerivatives

struct	CollisionPair

struct	ConfigVectorAffineTransform
	Assign the correct configuration vector space affine transformation according to the joint type. More...

struct	ConfigVectorAffineTransform< JointRevoluteUnboundedTpl< Scalar, Options, axis > >

class	ConstraintBase

struct	ConstraintForceOp
	Return type of the Constraint::Transpose * Force operation. More...

struct	ConstraintForceOp< ConstraintPrismaticTpl< Scalar, Options, axis >, ForceDerived >

struct	ConstraintForceOp< ConstraintPrismaticUnalignedTpl< Scalar, Options >, ForceDerived >

struct	ConstraintForceOp< ConstraintRevoluteTpl< Scalar, Options, axis >, ForceDerived >

struct	ConstraintForceOp< ConstraintRevoluteUnalignedTpl< Scalar, Options >, ForceDerived >

struct	ConstraintForceOp< ScaledConstraint< Constraint >, ForceDerived >

struct	ConstraintForceSetOp
	Return type of the Constraint::Transpose * ForceSet operation. More...

struct	ConstraintForceSetOp< ConstraintPrismaticTpl< Scalar, Options, axis >, ForceSet >

struct	ConstraintForceSetOp< ConstraintPrismaticUnalignedTpl< Scalar, Options >, ForceSet >

struct	ConstraintForceSetOp< ConstraintRevoluteTpl< Scalar, Options, axis >, ForceSet >

struct	ConstraintForceSetOp< ConstraintRevoluteUnalignedTpl< Scalar, Options >, ForceSet >

struct	ConstraintForceSetOp< ScaledConstraint< Constraint >, ForceSet >

struct	ConstraintIdentityTpl

struct	ConstraintPlanarTpl

struct	ConstraintPrismaticTpl

struct	ConstraintPrismaticUnalignedTpl

struct	ConstraintRevoluteTpl

struct	ConstraintRevoluteUnalignedTpl

struct	ConstraintSphericalTpl

struct	ConstraintSphericalZYXTpl

struct	ConstraintTpl

struct	ConstraintTranslationTpl

struct	DataTpl

struct	EmptyForwardStepBinaryVisit

struct	EmptyForwardStepBinaryVisitNoData

struct	EmptyForwardStepUnaryVisit

struct	EmptyForwardStepUnaryVisitNoData

struct	eval_set_dim

struct	eval_set_dim< dim, Eigen::Dynamic >

struct	eval_set_dim< Eigen::Dynamic, dim >

class	ForceBase
	Base interface for forces representation. More...

class	ForceDense

class	ForceRef

class	ForceRef< const Vector6ArgType >

class	ForceSetTpl

class	ForceTpl

struct	FrameTpl
	A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...

struct	GeometryData

struct	GeometryModel

struct	GeometryObject

class	GeometryPoolTpl

class	InertiaBase

class	InertiaTpl

struct	is_floating_point

struct	is_floating_point< boost::multiprecision::number< Backend, ET > >

struct	Jlog3_impl

struct	Jlog6_impl

struct	JointCollectionDefaultTpl

struct	JointCompositeTpl

struct	JointDataBase

struct	JointDataCompositeTpl

struct	JointDataFreeFlyerTpl

struct	JointDataMimic

struct	JointDataPlanarTpl

struct	JointDataPrismaticTpl

struct	JointDataPrismaticUnalignedTpl

struct	JointDataRevoluteTpl

struct	JointDataRevoluteUnalignedTpl

struct	JointDataRevoluteUnboundedTpl

struct	JointDataRevoluteUnboundedUnalignedTpl

struct	JointDataSphericalTpl

struct	JointDataSphericalZYXTpl

struct	JointDataTest

struct	JointDataTpl

struct	JointDataTranslationTpl

struct	JointDataVoid

struct	JointFreeFlyerTpl

struct	JointMimic

struct	JointModelBase

struct	JointModelCompositeTpl

struct	JointModelFreeFlyerTpl

struct	JointModelMimic

struct	JointModelPlanarTpl

struct	JointModelPrismaticTpl

struct	JointModelPrismaticUnalignedTpl

struct	JointModelRevoluteTpl

struct	JointModelRevoluteUnalignedTpl

struct	JointModelRevoluteUnboundedTpl

struct	JointModelRevoluteUnboundedUnalignedTpl

struct	JointModelSphericalTpl

struct	JointModelSphericalZYXTpl

struct	JointModelTest

struct	JointModelTpl

struct	JointModelTranslationTpl

struct	JointModelVoid

struct	JointPlanarTpl

struct	JointPrismaticTpl

struct	JointPrismaticUnalignedTpl

struct	JointRevoluteTpl

struct	JointRevoluteUnalignedTpl

struct	JointRevoluteUnboundedTpl

struct	JointRevoluteUnboundedUnalignedTpl

struct	JointSphericalTpl

struct	JointSphericalZYXTpl

struct	JointTest

struct	JointTpl

struct	JointTranslationTpl

struct	LieGroup

struct	LieGroupBase

struct	LieGroupCollectionDefaultTpl

struct	LieGroupGenericTpl

struct	LieGroupMap

struct	LinearAffineTransform
	Linear affine transformation of the configuration vector. Valide for most common joints which are evolving on a vectorial space. More...

struct	log3_impl

struct	log6_impl

struct	MatrixMatrixProduct

struct	MatrixScalarProduct

class	ModelPoolTpl

struct	ModelTpl

struct	MotionAlgebraAction
	Return type of the ation of a Motion onto an object of type D. More...

struct	MotionAlgebraAction< BiasZeroTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< ConstraintIdentityTpl< S1, O1 >, MotionDerived >

struct	MotionAlgebraAction< ConstraintPlanarTpl< S1, O1 >, MotionDerived >

struct	MotionAlgebraAction< ConstraintPrismaticTpl< Scalar, Options, axis >, MotionDerived >

struct	MotionAlgebraAction< ConstraintPrismaticUnalignedTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< ConstraintRevoluteTpl< Scalar, Options, axis >, MotionDerived >

struct	MotionAlgebraAction< ConstraintRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< ConstraintSphericalTpl< S1, O1 >, MotionDerived >

struct	MotionAlgebraAction< ConstraintSphericalZYXTpl< S1, O1 >, MotionDerived >

struct	MotionAlgebraAction< ConstraintTpl< Dim, Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< ConstraintTranslationTpl< S1, O1 >, MotionDerived >

struct	MotionAlgebraAction< ForceDense< Derived >, MotionDerived >

struct	MotionAlgebraAction< ForceRef< Vector6ArgType >, MotionDerived >

struct	MotionAlgebraAction< MotionDense< Derived >, MotionDerived >

struct	MotionAlgebraAction< MotionPlanarTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< MotionPrismaticTpl< Scalar, Options, axis >, MotionDerived >

struct	MotionAlgebraAction< MotionPrismaticUnalignedTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< MotionRef< Vector6ArgType >, MotionDerived >

struct	MotionAlgebraAction< MotionRevoluteTpl< Scalar, Options, axis >, MotionDerived >

struct	MotionAlgebraAction< MotionRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< MotionSphericalTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< MotionTranslationTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< MotionZeroTpl< Scalar, Options >, MotionDerived >

struct	MotionAlgebraAction< ScaledConstraint< Constraint >, MotionDerived >

struct	MotionAlgebraAction< SpatialAxis< axis >, MotionDerived >

class	MotionBase

class	MotionDense

struct	MotionPlanarTpl

struct	MotionPrismaticTpl

struct	MotionPrismaticUnalignedTpl

class	MotionRef

class	MotionRef< const Vector6ArgType >

struct	MotionRevoluteTpl

struct	MotionRevoluteUnalignedTpl

struct	MotionSphericalTpl

class	MotionTpl

struct	MotionTranslationTpl

struct	MotionZeroTpl

struct	MultiplicationOp
	Forward declaration of the multiplication operation return type. Should be overloaded, otherwise it will procude a compilation error. More...

struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintPrismaticTpl< S2, O2, axis > >

struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintPrismaticUnalignedTpl< Scalar, Options > >

struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintRevoluteTpl< S2, O2, axis > >

struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintRevoluteUnalignedTpl< Scalar, Options > >

struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ScaledConstraint< _Constraint > >

struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintPrismaticTpl< S2, O2, axis > >

struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintPrismaticUnalignedTpl< S2, O2 > >

struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintRevoluteTpl< S2, O2, axis > >

struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintRevoluteUnalignedTpl< S2, O2 > >

struct	MultiplicationOp< InertiaTpl< S1, O1 >, ScaledConstraint< _Constraint > >

struct	ScalarMatrixProduct

struct	ScaledConstraint

struct	SE3Base
	Base class for rigid transformation. More...

struct	SE3GroupAction

struct	SE3GroupAction< BiasZeroTpl< Scalar, Options > >

struct	SE3GroupAction< ConstraintIdentityTpl< S1, O1 > >

struct	SE3GroupAction< ConstraintPlanarTpl< S1, O1 > >

struct	SE3GroupAction< ConstraintPrismaticTpl< Scalar, Options, axis > >

struct	SE3GroupAction< ConstraintPrismaticUnalignedTpl< Scalar, Options > >

struct	SE3GroupAction< ConstraintRevoluteTpl< Scalar, Options, axis > >

struct	SE3GroupAction< ConstraintRevoluteUnalignedTpl< Scalar, Options > >

struct	SE3GroupAction< ConstraintSphericalTpl< S1, O1 > >

struct	SE3GroupAction< ConstraintSphericalZYXTpl< S1, O1 > >

struct	SE3GroupAction< ConstraintTpl< Dim, Scalar, Options > >

struct	SE3GroupAction< ConstraintTranslationTpl< S1, O1 > >

struct	SE3GroupAction< ForceDense< Derived > >

struct	SE3GroupAction< ForceRef< Vector6ArgType > >

struct	SE3GroupAction< ForceSet::Block >

struct	SE3GroupAction< MotionDense< Derived > >

struct	SE3GroupAction< MotionPlanarTpl< Scalar, Options > >

struct	SE3GroupAction< MotionPrismaticTpl< Scalar, Options, axis > >

struct	SE3GroupAction< MotionPrismaticUnalignedTpl< Scalar, Options > >

struct	SE3GroupAction< MotionRef< Vector6ArgType > >

struct	SE3GroupAction< MotionRevoluteTpl< Scalar, Options, axis > >

struct	SE3GroupAction< MotionRevoluteUnalignedTpl< Scalar, Options > >

struct	SE3GroupAction< MotionSphericalTpl< Scalar, Options > >

struct	SE3GroupAction< MotionTranslationTpl< Scalar, Options > >

struct	SE3GroupAction< MotionZeroTpl< Scalar, Options > >

struct	SE3GroupAction< ScaledConstraint< Constraint > >

struct	SE3GroupAction< TransformPrismaticTpl< Scalar, Options, axis > >

struct	SE3GroupAction< TransformRevoluteTpl< Scalar, Options, axis > >

struct	SE3GroupAction< TransformTranslationTpl< Scalar, Options > >

struct	SE3Tpl

struct	Serialize

struct	Serialize< JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > >

struct	Serialize< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >

struct	SINCOSAlgo
	Generic evaluation of sin/cos functions. More...

struct	SINCOSAlgo< boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< X_digits10, X_alloc >, X_et >, boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< S_digits10, S_alloc >, S_et >, boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< C_digits10, C_alloc >, C_et > >

struct	SINCOSAlgo< double >
	Specific evaluation of sin/cos for double type. More...

struct	SINCOSAlgo< float >
	Specific evaluation of sin/cos for float type. More...

struct	SINCOSAlgo< long double >
	Specific evaluation of sin/cos for long double. More...

struct	SizeDepType

struct	SizeDepType< Eigen::Dynamic >

struct	SpatialAxis

struct	SpecialEuclideanOperationTpl

struct	SpecialEuclideanOperationTpl< 2, _Scalar, _Options >

struct	SpecialEuclideanOperationTpl< 3, _Scalar, _Options >
	SE(3) More...

struct	SpecialOrthogonalOperationTpl

struct	SpecialOrthogonalOperationTpl< 2, _Scalar, _Options >

struct	SpecialOrthogonalOperationTpl< 3, _Scalar, _Options >

class	Symmetric3Tpl

struct	TaylorSeriesExpansion
	. More...

struct	TaylorSeriesExpansion< ::casadi::Matrix< Scalar > >

struct	TaylorSeriesExpansion< CppAD::AD< Scalar > >

struct	TaylorSeriesExpansion< CppAD::cg::CG< Scalar > >

struct	Tensor

struct	traits
	Common traits structure to fully define base classes for CRTP. More...

struct	traits< CartesianProductOperation< LieGroup1, LieGroup2 > >

struct	traits< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >

struct	traits< ConstraintIdentityTpl< _Scalar, _Options > >

struct	traits< ConstraintPlanarTpl< _Scalar, _Options > >

struct	traits< ConstraintPrismaticTpl< _Scalar, _Options, axis > >

struct	traits< ConstraintPrismaticUnalignedTpl< _Scalar, _Options > >

struct	traits< ConstraintRevoluteTpl< _Scalar, _Options, axis > >

struct	traits< ConstraintRevoluteUnalignedTpl< _Scalar, _Options > >

struct	traits< ConstraintSphericalTpl< _Scalar, _Options > >

struct	traits< ConstraintSphericalZYXTpl< _Scalar, _Options > >

struct	traits< ConstraintTpl< _Dim, _Scalar, _Options > >

struct	traits< ConstraintTranslationTpl< _Scalar, _Options > >

struct	traits< ForceRef< const Vector6ArgType > >

struct	traits< ForceRef< Vector6ArgType > >

struct	traits< ForceTpl< _Scalar, _Options > >

struct	traits< InertiaTpl< T, U > >

struct	traits< JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > >

struct	traits< JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > >

struct	traits< JointDataFreeFlyerTpl< Scalar, Options > >

struct	traits< JointDataMimic< Joint > >

struct	traits< JointDataPlanarTpl< Scalar, Options > >

struct	traits< JointDataPrismaticTpl< Scalar, Options, axis > >

struct	traits< JointDataPrismaticUnalignedTpl< Scalar, Options > >

struct	traits< JointDataRevoluteTpl< Scalar, Options, axis > >

struct	traits< JointDataRevoluteUnalignedTpl< Scalar, Options > >

struct	traits< JointDataRevoluteUnboundedTpl< Scalar, Options, axis > >

struct	traits< JointDataRevoluteUnboundedUnalignedTpl< Scalar, Options > >

struct	traits< JointDataSphericalTpl< Scalar, Options > >

struct	traits< JointDataSphericalZYXTpl< Scalar, Options > >

struct	traits< JointDataTest< Scalar, Options, JointCollectionTpl > >

struct	traits< JointDataTpl< Scalar, Options, JointCollectionTpl > >

struct	traits< JointDataTranslationTpl< Scalar, Options > >

struct	traits< JointFreeFlyerTpl< _Scalar, _Options > >

struct	traits< JointMimic< Joint > >

struct	traits< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >

struct	traits< JointModelFreeFlyerTpl< Scalar, Options > >

struct	traits< JointModelMimic< Joint > >

struct	traits< JointModelPlanarTpl< Scalar, Options > >

struct	traits< JointModelPrismaticTpl< Scalar, Options, axis > >

struct	traits< JointModelPrismaticUnalignedTpl< Scalar, Options > >

struct	traits< JointModelRevoluteTpl< Scalar, Options, axis > >

struct	traits< JointModelRevoluteUnalignedTpl< Scalar, Options > >

struct	traits< JointModelRevoluteUnboundedTpl< Scalar, Options, axis > >

struct	traits< JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > >

struct	traits< JointModelSphericalTpl< Scalar, Options > >

struct	traits< JointModelSphericalZYXTpl< Scalar, Options > >

struct	traits< JointModelTest< Scalar, Options, JointCollectionTpl > >

struct	traits< JointModelTpl< Scalar, Options, JointCollectionTpl > >

struct	traits< JointModelTranslationTpl< Scalar, Options > >

struct	traits< JointPlanarTpl< _Scalar, _Options > >

struct	traits< JointPrismaticTpl< _Scalar, _Options, axis > >

struct	traits< JointPrismaticUnalignedTpl< _Scalar, _Options > >

struct	traits< JointRevoluteTpl< _Scalar, _Options, axis > >

struct	traits< JointRevoluteUnalignedTpl< _Scalar, _Options > >

struct	traits< JointRevoluteUnboundedTpl< _Scalar, _Options, axis > >

struct	traits< JointRevoluteUnboundedUnalignedTpl< _Scalar, _Options > >

struct	traits< JointSphericalTpl< _Scalar, _Options > >

struct	traits< JointSphericalZYXTpl< _Scalar, _Options > >

struct	traits< JointTest< _Scalar, _Options, JointCollectionTpl > >

struct	traits< JointTpl< _Scalar, _Options, JointCollectionTpl > >

struct	traits< JointTranslationTpl< _Scalar, _Options > >

struct	traits< LieGroupGenericTpl< LieGroupCollection > >

struct	traits< MotionPlanarTpl< _Scalar, _Options > >

struct	traits< MotionPrismaticTpl< _Scalar, _Options, _axis > >

struct	traits< MotionPrismaticUnalignedTpl< _Scalar, _Options > >

struct	traits< MotionRef< const Vector6ArgType > >

struct	traits< MotionRef< Vector6ArgType > >

struct	traits< MotionRevoluteTpl< _Scalar, _Options, axis > >

struct	traits< MotionRevoluteUnalignedTpl< _Scalar, _Options > >

struct	traits< MotionSphericalTpl< _Scalar, _Options > >

struct	traits< MotionTpl< _Scalar, _Options > >

struct	traits< MotionTranslationTpl< _Scalar, _Options > >

struct	traits< MotionZeroTpl< _Scalar, _Options > >

struct	traits< ScaledConstraint< Constraint > >

struct	traits< SE3Tpl< _Scalar, _Options > >

struct	traits< SpecialEuclideanOperationTpl< 2, _Scalar, _Options > >

struct	traits< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >

struct	traits< SpecialEuclideanOperationTpl< Dim, Scalar, Options > >

struct	traits< SpecialOrthogonalOperationTpl< 2, _Scalar, _Options > >

struct	traits< SpecialOrthogonalOperationTpl< 3, _Scalar, _Options > >

struct	traits< SpecialOrthogonalOperationTpl< Dim, Scalar, Options > >

struct	traits< TransformPrismaticTpl< _Scalar, _Options, _axis > >

struct	traits< TransformRevoluteTpl< _Scalar, _Options, _axis > >

struct	traits< TransformTranslationTpl< _Scalar, _Options > >

struct	traits< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >

struct	TransformPrismaticTpl

struct	TransformRevoluteTpl

struct	TransformTranslationTpl

struct	UnboundedRevoluteAffineTransform

struct	VectorSpaceOperationTpl

Typedefs
typedef SpatialAxis< 0 >	AxisVX

typedef SpatialAxis< 1 >	AxisVY

typedef SpatialAxis< 2 >	AxisVZ

typedef SpatialAxis< 3 >	AxisWX

typedef SpatialAxis< 4 >	AxisWY

typedef SpatialAxis< 5 >	AxisWZ

typedef CartesianAxis< 0 >	AxisX

typedef CartesianAxis< 1 >	AxisY

typedef CartesianAxis< 2 >	AxisZ

typedef CartesianProductOperationVariantTpl< double, 0, LieGroupCollectionDefaultTpl >	CartesianProductOperationVariant

typedef ConstraintTpl< 1, double, 0 >	Constraint1d

typedef ConstraintTpl< 3, double, 0 >	Constraint3d

typedef ConstraintTpl< 6, double, 0 >	Constraint6d

typedef ConstraintTpl< Eigen::Dynamic, double, 0 >	ConstraintXd

typedef DataTpl< double >	Data

typedef ForceTpl< double, 0 >	Force

typedef ForceSetTpl< double, 0 >	ForceSet

typedef FrameTpl< double >	Frame

typedef Index	FrameIndex

typedef GeometryPoolTpl< double, 0, JointCollectionDefaultTpl >	GeometryPool

typedef Index	GeomIndex

typedef std::size_t	Index

typedef InertiaTpl< double, 0 >	Inertia

typedef JointTpl< double >	Joint

typedef JointCollectionDefaultTpl< double >	JointCollectionDefault

typedef JointDataTpl< double >	JointData

typedef JointDataCompositeTpl< double >	JointDataComposite

typedef JointDataFreeFlyerTpl< double >	JointDataFreeFlyer

typedef JointDataPlanarTpl< double >	JointDataPlanar

typedef JointDataPrismaticUnalignedTpl< double >	JointDataPrismaticUnaligned

typedef JointDataPrismaticTpl< double, 0, 0 >	JointDataPX

typedef JointDataPrismaticTpl< double, 0, 1 >	JointDataPY

typedef JointDataPrismaticTpl< double, 0, 2 >	JointDataPZ

typedef JointDataRevoluteUnalignedTpl< double >	JointDataRevoluteUnaligned

typedef JointDataRevoluteUnboundedUnalignedTpl< double >	JointDataRevoluteUnboundedUnaligned

typedef JointDataRevoluteUnboundedTpl< double, 0, 0 >	JointDataRUBX

typedef JointDataRevoluteUnboundedTpl< double, 0, 1 >	JointDataRUBY

typedef JointDataRevoluteUnboundedTpl< double, 0, 2 >	JointDataRUBZ

typedef JointDataRevoluteTpl< double, 0, 0 >	JointDataRX

typedef JointDataRevoluteTpl< double, 0, 1 >	JointDataRY

typedef JointDataRevoluteTpl< double, 0, 2 >	JointDataRZ

typedef JointDataSphericalTpl< double >	JointDataSpherical

typedef JointDataSphericalZYXTpl< double >	JointDataSphericalZYX

typedef JointDataTranslationTpl< double >	JointDataTranslation

typedef JointCollectionDefault::JointDataVariant	JointDataVariant

typedef Index	JointIndex

typedef JointModelTpl< double >	JointModel

typedef JointModelCompositeTpl< double >	JointModelComposite

typedef JointModelFreeFlyerTpl< double >	JointModelFreeFlyer

typedef JointModelPlanarTpl< double >	JointModelPlanar

typedef JointModelPrismaticUnalignedTpl< double >	JointModelPrismaticUnaligned

typedef JointModelPrismaticTpl< double, 0, 0 >	JointModelPX

typedef JointModelPrismaticTpl< double, 0, 1 >	JointModelPY

typedef JointModelPrismaticTpl< double, 0, 2 >	JointModelPZ

typedef JointModelRevoluteUnalignedTpl< double >	JointModelRevoluteUnaligned

typedef JointModelRevoluteUnboundedUnalignedTpl< double >	JointModelRevoluteUnboundedUnaligned

typedef JointModelRevoluteUnboundedTpl< double, 0, 0 >	JointModelRUBX

typedef JointModelRevoluteUnboundedTpl< double, 0, 1 >	JointModelRUBY

typedef JointModelRevoluteUnboundedTpl< double, 0, 2 >	JointModelRUBZ

typedef JointModelRevoluteTpl< double, 0, 0 >	JointModelRX

typedef JointModelRevoluteTpl< double, 0, 1 >	JointModelRY

typedef JointModelRevoluteTpl< double, 0, 2 >	JointModelRZ

typedef JointModelSphericalTpl< double >	JointModelSpherical

typedef JointModelSphericalZYXTpl< double >	JointModelSphericalZYX

typedef JointModelTranslationTpl< double >	JointModelTranslation

typedef JointCollectionDefault::JointModelVariant	JointModelVariant

typedef JointPrismaticTpl< double, 0, 0 >	JointPX

typedef JointPrismaticTpl< double, 0, 1 >	JointPY

typedef JointPrismaticTpl< double, 0, 2 >	JointPZ

typedef JointRevoluteUnboundedTpl< double, 0, 0 >	JointRUBX

typedef JointRevoluteUnboundedTpl< double, 0, 1 >	JointRUBY

typedef JointRevoluteUnboundedTpl< double, 0, 2 >	JointRUBZ

typedef JointRevoluteTpl< double, 0, 0 >	JointRX

typedef JointRevoluteTpl< double, 0, 1 >	JointRY

typedef JointRevoluteTpl< double, 0, 2 >	JointRZ

typedef LieGroupCollectionDefaultTpl< double >	LieGroupCollectionDefault

typedef ModelTpl< double >	Model

typedef ModelPoolTpl< double, 0, JointCollectionDefaultTpl >	ModelPool

typedef MotionTpl< double, 0 >	Motion

typedef MotionPlanarTpl< double >	MotionPlanar

typedef MotionPrismaticUnalignedTpl< double >	MotionPrismaticUnaligned

typedef MotionRevoluteUnalignedTpl< double >	MotionRevoluteUnaligned

typedef MotionSphericalTpl< double >	MotionSpherical

typedef MotionTranslationTpl< double >	MotionTranslation

typedef MotionZeroTpl< double, 0 >	MotionZero

typedef Index	PairIndex

typedef SE3Tpl< double, 0 >	SE3

typedef Symmetric3Tpl< double, 0 >	Symmetric3

Enumerations
enum	{ MAX_JOINT_NV = 6 }

enum	{ SELF = 0 }

enum	ArgumentPosition { ARG0 = 0, ARG1 = 1, ARG2 = 2, ARG3 = 3, ARG4 = 4 }
	Argument position. Used as template parameter to refer to an argument. More...

enum	AssignmentOperatorType { SETTO, ADDTO, RMTO }

enum	FrameType { OP_FRAME = 0x1 << 0, JOINT = 0x1 << 1, FIXED_JOINT = 0x1 << 2, BODY = 0x1 << 3, SENSOR = 0x1 << 4 }
	Enum on the possible types of frame. More...

enum	GeometryType { VISUAL, COLLISION }

enum	KinematicLevel { POSITION = 0, VELOCITY = 1, ACCELERATION = 2 }
	List of Kinematics Level supported by Pinocchio. More...

enum	ModelFileExtensionType { UNKNOWN = 0, URDF }
	Supported model file extensions. More...

enum	ReferenceFrame { WORLD = 0, LOCAL = 1, LOCAL_WORLD_ALIGNED = 2 }
	List of Reference Frames supported by Pinocchio. More...

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 >
void	aba (const int num_threads, ModelPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< TangentVectorPool1 > &v, const Eigen::MatrixBase< TangentVectorPool2 > &tau, const Eigen::MatrixBase< TangentVectorPool3 > &a)
	A parallel version of the Articulated Body algorithm. It computes the forward dynamics, aka the joint acceleration according to the current state of the system and the desired joint torque. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	aba (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 > &tau)
	The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	aba (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 > &tau, const container::aligned_vector< ForceDerived > &fext)
	The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model. More...

template<typename D >
void	addJointAndBody (Model &model, const JointModelBase< D > &jmodel, const Model::JointIndex parent_id, const SE3 &joint_placement, const std::string &name, const Inertia &Y)

template<typename Vector3Like , typename Matrix3Like >
void	addSkew (const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like > &M)
	Add skew matrix represented by a 3d vector to a given matrix, i.e. add the antisymmetric matrix representation of the cross product operator ( $[v]_{\times} x = v \times x$ ) More...

template<typename Scalar , typename Vector3 , typename Matrix3 >
void	alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( $[\alpha v]_{\times} x = \alpha v \times x$ ) More...

template<typename Scalar , typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3)::Options >	alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( $[\alpha v]_{\times} x = \alpha v \times x$ ) More...

void	appendGeometryModel (GeometryModel &geom_model1, const GeometryModel &geom_model2)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Append a child model into a parent model, after a specific frame given by its index. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl >	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb)
	Append a child model into a parent model, after a specific frame given by its index. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const GeometryModel &geomModelA, const GeometryModel &geomModelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel)
	Append a child model into a parent model, after a specific frame given by its index. More...

template<int axis>
char	axisLabel ()
	Generate the label (X, Y or Z) of the axis relative to its index. More...

template<>
char	axisLabel< 0 > ()

template<>
char	axisLabel< 1 > ()

template<>
char	axisLabel< 2 > ()

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
MotionTpl< Scalar, Options >	bias (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion. More...

template<typename MotionVelocity , typename MotionAcceleration , typename OutputType >
void	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > &regressor)
	Computes the regressor for the dynamic parameters of a single rigid body. More...

template<typename MotionVelocity , typename MotionAcceleration >
Eigen::Matrix< typename MotionVelocity::Scalar, 6, 10, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options >	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a)
	Computes the regressor for the dynamic parameters of a single rigid body. More...

void	buildAllJointsModel (Model &model)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model)
	Build a reduced model from a given input model and a list of joint to lock. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
ModelTpl< Scalar, Options, JointCollectionTpl >	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)
	Build a reduced model from a given input model and a list of joint to lock. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model, GeometryModel &reduced_geom_model)
	Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename GeometryModelAllocator , typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< GeometryModel, GeometryModelAllocator > &list_of_geom_models, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model, std::vector< GeometryModel, GeometryModelAllocator > &list_of_reduced_geom_models)
	Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename Matrix6Type >
void	calc_aba (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
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)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType >
void	calc_zero_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero. More...

template<typename NewScalar , typename Scalar >
NewScalar	cast (const Scalar &value)

template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type	cast_joint (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...> More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	ccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta according to the current joint configuration and velocity. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool computeSubtreeComs=true)
	Computes the center of mass position of a given model according to a particular joint configuration. The result is accessible through data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const bool computeSubtreeComs=true)
	Computes the center of mass position and velocity of a given model according to a particular joint configuration and velocity. The result is accessible through data.com[0], data.vcom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (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 bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration. The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation. And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, KinematicLevel kinematic_level, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data and the requested kinematic_level. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
PINOCCHIO_DEPRECATED void	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, int kinematic_level, const bool computeSubtreeComs=true)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
bool	checkData (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data)

ModelFileExtensionType	checkModelFileExtension (const std::string &filename)
	Extract the type of the given model file according to its extension. More...

bool	checkVersionAtLeast (unsigned int major_version, unsigned int minor_version, unsigned int patch_version)
	Checks if the current version of Pinocchio is at least the version provided by the input arguments. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeABADerivatives (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 > &tau, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeABADerivatives (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 > &tau, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm with external forces. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeABADerivatives (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 > &tau)
	The derivatives of the Articulated-Body algorithm. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeABADerivatives (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 > &tau, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext)
	The derivatives of the Articulated-Body algorithm with external forces. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	computeAllTerms (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes efficiently all the terms needed for dynamic simulation. It is equivalent to the call at the same time to: More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalDynamics (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)
	Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >
void	computeCentroidalDynamicsDerivatives (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< Matrix6xLike0 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
	Computes the analytical derivatives of the centroidal dynamics with respect to the joint configuration vector, velocity and acceleration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMap (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the Centroidal Momentum Matrix,. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMapTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal Momentum Matrix time derivative. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentumTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentumTimeVariation (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)
	Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...

bool	computeCollisions (const int num_threads, const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	computeCollisions (const int num_threads, const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool stopAtFirstCollision=false)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename CollisionVectorResult >
void	computeCollisions (const int num_threads, GeometryPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< CollisionVectorResult > &res, const bool stopAtFirstCollision=false)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const 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)
	Computes the Coriolis Matrix $C(q,\dot{q})$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray}$ More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeForwardKinematicsDerivatives (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)
	Computes all the terms required to compute the derivatives of the placement, spatial velocity and acceleration for any joint of the model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J)
	Computes the Jacobian of a specific Frame expressed in the desired reference_frame given as argument. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J)
	Computes the Jacobian of a specific Frame expressed in the LOCAL frame coordinate system. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeFrameKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeFrameKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	computeGeneralizedGravity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the generalized gravity contribution of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray}$ More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >
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)
	Computes the partial derivative of the generalized gravity contribution with respect to the joint configuration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6Like >
void	computeJointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex jointId, const Eigen::MatrixBase< Matrix6Like > &J)
	Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store the result in the input argument J. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function computes also the forwardKinematics of the model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function assumes that pinocchio::forwardKinematics has been called before. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobiansTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depends both on q and v. The result is accessible through data.dJ. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See computeJointJacobians for such a function. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
	Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement)
	Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	computeJointTorqueRegressor (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)
	Computes the joint torque regressor that links the joint torque to the dynamic parameters of each link according to the current the robot motion. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
Scalar	computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ConstraintMatrixType , typename KKTMatrixType >
void	computeKKTContactDynamicMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv, const Scalar &inv_damping=0.)
	Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix: $\left[\begin{matrix}\mathbf{M}^{-1}-\mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & \mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1} \\ \widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & -\widehat{\mathbf{M}}^{-1}\end{matrix}\right]$ More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs &	computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the inverse of the joint space inertia matrix using Articulated Body formulation. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
Scalar	computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
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)
	Computes the partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
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)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
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)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
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)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	computeStaticRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const 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)
	Computes the generalized static torque contribution $g(q) - \sum J(q)^{\top} f_{\text{ext}}$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau + \sum J(q)^{\top} f_{\text{ext}} \end{eqnarray}$ . This torque vector accouts for the contribution of the gravity and the external forces. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >
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)
	Computes the partial derivative of the generalized gravity and external forces contributions (a.k.a static torque vector) with respect to the joint configuration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeSubtreeMasses (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Compute the mass of each kinematic subtree and store it in data.mass. The element mass[0] corresponds to the total mass of the model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Compute the total mass of the model and return it. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Compute the total mass of the model, put it in data.mass[0] and return it. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
ConstraintTpl< Eigen::Dynamic, Scalar, Options >	constraint_xd (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	copy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &origin, DataTpl< Scalar, Options, JointCollectionTpl > &dest, KinematicLevel kinematic_level)
	Copy part of the data from `origin` to `dest`. Template parameter can be used to select at which differential level the copy should occur. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
PINOCCHIO_DEPRECATED void	copy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &origin, DataTpl< Scalar, Options, JointCollectionTpl > &dest, int kinematic_level)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	crba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	crbaMinimal (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointDataTpl< Scalar, Options, JointCollectionTpl >	createData (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through CreateData visitor to create a JointDataTpl. More...

template<typename Vector3 , typename Matrix3xIn , typename Matrix3xOut >
void	cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3xIn > &Min, const Eigen::MatrixBase< Matrix3xOut > &Mout)
	Applies the cross product onto the columns of M. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	dccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration and velocity vectors. More...

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void	dDifference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg)

template<ArgumentPosition arg, typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
void	dDifference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout)

template<ArgumentPosition arg, typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
void	dDifference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout)

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class Tangent_t >
void	difference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, int self, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrateTransport (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrateTransport (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg)

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	dinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition. More...

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
ConfigL_t::Scalar	distance (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	emptyForwardPassBinaryVisit (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	emptyForwardPassBinaryVisitNoData (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	emptyForwardPassUnaryVisit (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	emptyForwardPassUnaryVisitNoData (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)

template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	exp3 (const Eigen::MatrixBase< Vector3Like > &v)
	Exp: so3 -> SO3. More...

template<typename MotionDerived >
SE3Tpl< typename MotionDerived::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionDerived::Vector3)::Options >	exp6 (const MotionDense< MotionDerived > &nu)
	Exp: se3 -> SE3. More...

template<typename Vector6Like >
SE3Tpl< typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options >	exp6 (const Eigen::MatrixBase< Vector6Like > &v)
	Exp: se3 -> SE3. More...

void	extractPathFromEnvVar (const std::string &env_var_name, std::vector< std::string > &list_of_paths, const std::string &delimiter=":")
	Parse an environment variable if exists and extract paths according to the delimiter. More...

std::vector< std::string >	extractPathFromEnvVar (const std::string &env_var_name, const std::string &delimiter=":")
	Parse an environment variable if exists and extract paths according to the delimiter. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ConstraintMatrixType , typename DriftVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	forwardDynamics (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 > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
	Compute the forward dynamics with contact constraints. Internally, pinocchio::computeAllTerms is called. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename TangentVectorType , typename ConstraintMatrixType , typename DriftVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	forwardDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
	Compute the forward dynamics with contact constraints, assuming pinocchio::computeAllTerms has been called. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ConstraintMatrixType , typename DriftVectorType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	forwardDynamics (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 > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping, const bool updateKinematics)
	Compute the forward dynamics with contact constraints. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Update the joint placements according to the current joint configuration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Update the joint placements and spatial velocities according to the current joint configuration and velocity. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	forwardKinematics (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)
	Update the joint placements, spatial velocities and spatial accelerations according to the current joint configuration, velocity and acceleration. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType &	frameBodyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex frameId)
	Computes the regressor for the dynamic parameters of a rigid body attached to a given frame, puts the result in data.bodyRegressor and returns it. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >
PINOCCHIO_DEPRECATED void	frameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J)
	This function is now deprecated and has been renamed computeFrameJacobian. This signature will be removed in future release of Pinocchio. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	First calls the forwardKinematics on the model, then computes the placement of each frame. /sa pinocchio::forwardKinematics. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
PINOCCHIO_DEPRECATED void	framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Updates the position of each frame contained in the model. This function is now deprecated and has been renamed updateFramePlacements. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the spatial acceleration of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut >
void	getCenterOfMassVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)
	Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration q. You must first call computeAllTerms(model,data,q,v) or computeCenterOfMass(model,data,q,v) before calling this function. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >
void	getCentroidalDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix6xLike1 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
	Retrive the analytical derivatives of the centroidal dynamics from the RNEA derivatives. pinocchio::computeRNEADerivatives should have been called first. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the "classical" acceleration of the joint expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	getComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	getCoriolisMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Retrives the Coriolis Matrix $C(q,\dot{q})$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray}$ after a call to the dynamics derivatives. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
	Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da)
	Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike >
void	getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &J)
	Returns the jacobian of the frame expressed either expressed in the LOCAL frame coordinate system or in the WORLD coordinate system, depending on the value of rf. You must first call pinocchio::computeJointJacobians followed by pinocchio::framesForwardKinematics to update placement values in data structure. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike >
void	getFrameJacobianTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &dJ)
	Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the WORLD frame (rf = WORLD) or in the LOCAL frame (rf = LOCAL) or in the LOCAL_WORLD_ALIGNED frame (rf = LOCAL_WORLD_ALIGNED). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >
void	getFrameVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv)
	Computes the partial derivatives of the frame velocity quantity with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	getJacobianComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Extracts both the jacobian of the center of mass (CoM), the total mass of the system and the CoM position from the joint space inertia matrix (also called the mass matrix). The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both expressed in the world frame. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >
void	getJacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Retrieves the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that pinocchio::jacobianCenterOfMass has been called first with computeSubtreeComs equals to true. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >
void	getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
	Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >
void	getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da)
	Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6Like >
void	getJointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6Like > &J)
	Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame or in the local frame (rf = LOCAL) of the joint. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6Like >
void	getJointJacobianTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6Like > &dJ)
	Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf, Tensor< Scalar, 3, Options > &kinematic_hessian)
	Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to , the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. The frame in which the kinematic Hessian is precised by the input argument rf. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Tensor< Scalar, 3, Options >	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf)
	Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to , the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >
void	getJointVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv)
	Computes the partial derivaties of the spatial velocity of a given with respect to the joint configuration and velocity. You must first call computForwardKinematicsDerivatives before calling this function. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConstraintMatrixType , typename KKTMatrixType >
void	getKKTContactDynamicMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv)
	Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix: $\left[\begin{matrix}\mathbf{M}^{-1}-\mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & \mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1} \\ \widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & -\widehat{\mathbf{M}}^{-1}\end{matrix}\right]$ More...

int	getOpenMPNumThreadsEnv ()
	Returns the number of thread defined by the environment variable OMP_NUM_THREADS. If this variable is not defined, this simply returns the default value 1. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the spatial velocity of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More...

template<typename Derived >
bool	hasNaN (const Eigen::DenseBase< Derived > &m)

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)
	Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived. More...

template<typename Scalar , typename Vector3Like1 , typename Vector3Like2 , typename Matrix3Like >
void	Hlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like1 > &log, const Eigen::MatrixBase< Vector3Like2 > &v, const Eigen::MatrixBase< Matrix3Like > &vt_Hlog)

template<typename Matrix3Like1 , typename Vector3Like , typename Matrix3Like2 >
void	Hlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like2 > &vt_Hlog)
	Second order derivative of log3. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointIndex	id (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	idx_q (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	idx_v (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
	Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
	Compute the impulse dynamics with contact constraints, assuming pinocchio::crba has been called. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff, const bool updateKinematics)
	Compute the impulse dynamics with contact constraints. More...

template<typename LieGroupCollection , class ConfigIn_t , class Tangent_t , class ConfigOut_t >
void	integrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
	Visit a LieGroupVariant to call its integrate method. More...

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	interpolate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const typename ConfigL_t::Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout)

template<typename MatrixIn , typename MatrixOut >
void	inverse (const Eigen::MatrixBase< MatrixIn > &m_in, const Eigen::MatrixBase< MatrixOut > &dest)

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)
	Visit a JointModelTpl<Scalar,...> to compare it to JointModelDerived. More...

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)
	Visit a JointDataTpl<Scalar,...> to compare it to another JointData. More...

template<typename LieGroupCollection , class Config_t >
bool	isNormalized (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qin, const typename Config_t::Scalar &prec=Eigen::NumTraits< typename Config_t::Scalar >::dummy_precision())

template<typename VectorLike >
bool	isNormalized (const Eigen::MatrixBase< VectorLike > &vec, const typename VectorLike::RealScalar &prec=Eigen::NumTraits< typename VectorLike::Scalar >::dummy_precision())
	Check whether the input vector is Normalized within the given precision. More...

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
bool	isSameConfiguration (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const typename ConfigL_t::Scalar &prec)

template<typename MatrixLike >
bool	isUnitary (const Eigen::MatrixBase< MatrixLike > &mat, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())
	Check whether the input matrix is Unitary within the given precision. More...

template<typename MatrixLike >
bool	isZero (const Eigen::MatrixBase< MatrixLike > &m, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	jacobianCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool computeSubtreeComs=true)
	Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	jacobianCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
	Computes both the jacobian and the the center of mass position of a given model according to the current value stored in data. It assumes that forwardKinematics has been called first. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix3xLike >
void	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Computes the Jacobian of the center of mass of the given subtree according to a particular joint configuration. In addition, the algorithm also computes the Jacobian of all the joints (. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >
void	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Computes the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that forwardKinematics has been called first. More...

template<AssignmentOperatorType op, typename Vector3Like , typename Matrix3Like >
void	Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
	Derivative of $\exp{r}$ $\frac{\sin{\|\|r\|\|}}{\|\|r\|\|} I_3 - \frac{1-\cos{\|\|r\|\|}}{\|\|r\|\|^2} \left[ r \right]_x + \frac{1}{\|\|n\|\|^2} (1-\frac{\sin{\|\|r\|\|}}{\|\|r\|\|}) r r^T$ . More...

template<typename Vector3Like , typename Matrix3Like >
void	Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
	Derivative of $\exp{r}$ $\frac{\sin{\|\|r\|\|}}{\|\|r\|\|} I_3 - \frac{1-\cos{\|\|r\|\|}}{\|\|r\|\|^2} \left[ r \right]_x + \frac{1}{\|\|n\|\|^2} (1-\frac{\sin{\|\|r\|\|}}{\|\|r\|\|}) r r^T$ . More...

template<AssignmentOperatorType op, typename MotionDerived , typename Matrix6Like >
void	Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
	Derivative of exp6 Computed as the inverse of Jlog6. More...

template<typename MotionDerived , typename Matrix6Like >
void	Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
	Derivative of exp6 Computed as the inverse of Jlog6. More...

template<typename Scalar , typename Vector3Like , typename Matrix3Like >
void	Jlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like > &log, const Eigen::MatrixBase< Matrix3Like > &Jlog)
	Derivative of log3. More...

template<typename Matrix3Like1 , typename Matrix3Like2 >
void	Jlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Matrix3Like2 > &Jlog)
	Derivative of log3. More...

template<typename Scalar , int Options, typename Matrix6Like >
void	Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog)
	Derivative of log6 $\left(\begin{array}{cc} \text{Jlog3}(R) & J * \text{Jlog3}(R) \\ 0 & \text{Jlog3}(R) \\ \end{array}\right)$ where $M = \left(\begin{array}{cc} \exp(\mathbf{r}) & \mathbf{p} \\ 0 & 1 \\ \end{array}\right)$ $\begin{eqnarray} J &=& \left.\frac{1}{2}[\mathbf{p}]_{\times} + \beta'(\|\|r\|\|) \frac{\mathbf{r}^T\mathbf{p}}{\|\|r\|\|}\mathbf{r}\mathbf{r}^T - (\|\|r\|\|\beta'(\|\|r\|\|) + 2 \beta(\|\|r\|\|)) \mathbf{p}\mathbf{r}^T\right.\\ &&\left. + \mathbf{r}^T\mathbf{p}\beta(\|\|r\|\|)I_3 + \beta(\|\|r\|\|)\mathbf{r}\mathbf{p}^T\right. \end{eqnarray}$ and $\beta(x)=\left(\frac{1}{x^2} - \frac{\sin x}{2x(1-\cos x)}\right)$ . More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
SE3Tpl< Scalar, Options >	joint_transform (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint). More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType &	jointBodyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, JointIndex jointId)
	Computes the regressor for the dynamic parameters of a rigid body attached to a given joint, puts the result in data.bodyRegressor and returns it. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6Like >
PINOCCHIO_DEPRECATED void	jointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex jointId, const Eigen::MatrixBase< Matrix6Like > &J)
	This function is now deprecated and has been renamed into computeJointJacobian. It will be removed in future releases of Pinocchio. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
PINOCCHIO_DEPRECATED Scalar	kineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const bool update_kinematics)
	Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...

template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options >	log3 (const Eigen::MatrixBase< Matrix3Like > &R, typename Matrix3Like::Scalar &theta)
	Same as log3. More...

template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options >	log3 (const Eigen::MatrixBase< Matrix3Like > &R)
	Log: SO(3)-> so(3). More...

template<typename Scalar , int Options>
MotionTpl< Scalar, Options >	log6 (const SE3Tpl< Scalar, Options > &M)
	Log: SE3 -> se3. More...

template<typename Matrix4Like >
MotionTpl< typename Matrix4Like::Scalar, Eigen::internal::traits< Matrix4Like >::Options >	log6 (const Eigen::MatrixBase< Matrix4Like > &M)
	Log: SE3 -> se3. More...

AlgorithmCheckerList< ParentChecker, CRBAChecker, ABAChecker >	makeDefaultCheckerList ()
	Default checker-list, used as the default argument in Model::check(). More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
MotionTpl< Scalar, Options >	motion (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion. More...

template<typename LieGroupCollection >
std::string	name (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the name of it. More...

template<typename LieGroupCollection >
Eigen::Matrix< typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options >	neutral (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the neutral element of it. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const 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)
	Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the bias terms $b(q,\dot{q})$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + b(q, \dot{q}) = \tau \end{eqnarray}$ More...

template<typename LieGroupCollection , class Config_t >
void	normalize (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout)

template<typename Matrix3 >
void	normalizeRotation (const Eigen::MatrixBase< Matrix3 > &rot)
	Orthogonormalization procedure for a rotation matrix (closed enough to SO(3)). More...

template<typename LieGroupCollection >
int	nq (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the dimension of the Lie group configuration space. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	nq (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space. More...

template<typename LieGroupCollection >
int	nv (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the dimension of the Lie group tangent space. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	nv (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	operator!= (const JointDataBase< JointDataDerived > &joint_data, const JointDataTpl< Scalar, Options, JointCollectionTpl > &joint_data_generic)

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	operator!= (const JointModelBase< JointModelDerived > &joint_model, const JointModelTpl< Scalar, Options, JointCollectionTpl > &joint_model_generic)

template<typename Scalar , int Options, typename Vector6Like >
MotionRef< const Vector6Like >	operator* (const ConstraintIdentityTpl< Scalar, Options > &, const Eigen::MatrixBase< Vector6Like > &v)

template<typename MotionDerived >
internal::RHSScalarMultiplication< MotionDerived, typename MotionDerived::Scalar >::ReturnType	operator* (const typename MotionDerived::Scalar &alpha, const MotionBase< MotionDerived > &motion)

template<typename Scalar , int Options, typename ConstraintDerived >
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType	operator* (const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint)
	. More...

template<typename S1 , int O1, typename S2 , int O2>
InertiaTpl< S1, O1 >::Matrix6	operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintIdentityTpl< S2, O2 > &)

template<typename MatrixDerived , typename ConstraintDerived >
MultiplicationOp< Eigen::MatrixBase< MatrixDerived >, ConstraintDerived >::ReturnType	operator* (const Eigen::MatrixBase< MatrixDerived > &Y, const ConstraintBase< ConstraintDerived > &constraint)
	. More...

template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S1, 6, 3, O1 >	operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintSphericalZYXTpl< S2, O2 > &S)

template<typename F1 >
traits< F1 >::ForcePlain	operator* (const typename traits< F1 >::Scalar alpha, const ForceDense< F1 > &f)
	Basic operations specialization. More...

template<typename Matrix6Like , typename S2 , int O2>
const MatrixMatrixProduct< typename Eigen::internal::remove_const< typename SizeDepType< 3 >::ColsReturn< Matrix6Like >::ConstType >::type, typename ConstraintSphericalZYXTpl< S2, O2 >::Matrix3 >::type	operator* (const Eigen::MatrixBase< Matrix6Like > &Y, const ConstraintSphericalZYXTpl< S2, O2 > &S)

template<typename M1 >
traits< M1 >::MotionPlain	operator* (const typename traits< M1 >::Scalar alpha, const MotionDense< M1 > &v)

template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S2, 6, 3, O2 >	operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintSphericalTpl< S2, O2 > &)

template<typename M6Like , typename S2 , int O2>
SizeDepType< 3 >::ColsReturn< M6Like >::ConstType	operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintSphericalTpl< S2, O2 > &)

template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S1, 6, 3, O1 >	operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintPlanarTpl< S2, O2 > &)

template<typename M6Like , typename S2 , int O2>
Eigen::Matrix< S2, 6, 3, O2 >	operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintPlanarTpl< S2, O2 > &)

template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S2, 6, 3, O2 >	operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintTranslationTpl< S2, O2 > &)

template<typename M6Like , typename S2 , int O2>
const SizeDepType< 3 >::ColsReturn< M6Like >::ConstType	operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintTranslationTpl< S2, O2 > &)

template<typename M1 , typename Scalar , int Options>
const M1 &	operator+ (const MotionBase< M1 > &v, const MotionZeroTpl< Scalar, Options > &)

template<typename Scalar , int Options, typename M1 >
const M1 &	operator+ (const MotionZeroTpl< Scalar, Options > &, const MotionBase< M1 > &v)

template<typename Scalar , int Options, int axis, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPrismaticTpl< Scalar, Options, axis > &m1, const MotionDense< MotionDerived > &m2)

template<typename Scalar , int Options, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPrismaticUnalignedTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2)

template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionTranslationTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)

template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionSphericalTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)

template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionRevoluteUnalignedTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)

template<typename Scalar , int Options, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPlanarTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2)

template<typename S1 , int O1, int axis, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionRevoluteTpl< S1, O1, axis > &m1, const MotionDense< MotionDerived > &m2)

template<typename Derived >
std::ostream &	operator<< (std::ostream &os, const LieGroupBase< Derived > &lg)

template<typename LieGroupCollection >
std::ostream &	operator<< (std::ostream &os, const LieGroupGenericTpl< LieGroupCollection > &lg)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
std::ostream &	operator<< (std::ostream &os, const JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > &jdata)

template<typename Scalar , int Options>
std::ostream &	operator<< (std::ostream &os, const FrameTpl< Scalar, Options > &f)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
std::ostream &	operator<< (std::ostream &os, const JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > &jmodel)

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	operator== (const JointDataBase< JointDataDerived > &joint_data, const JointDataTpl< Scalar, Options, JointCollectionTpl > &joint_data_generic)

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	operator== (const JointModelBase< JointModelDerived > &joint_model, const JointModelTpl< Scalar, Options, JointCollectionTpl > &joint_model_generic)

template<typename MotionDerived , typename S2 , int O2, int axis>
EIGEN_STRONG_INLINE MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticTpl< S2, O2, axis > &m2)

template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticUnalignedTpl< S2, O2 > &m2)

template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteUnalignedTpl< S2, O2 > &m2)

template<typename M1 , typename M2 >
traits< M1 >::MotionPlain	operator^ (const MotionDense< M1 > &v1, const MotionDense< M2 > &v2)
	Basic operations specialization. More...

template<typename M1 , typename F1 >
traits< F1 >::ForcePlain	operator^ (const MotionDense< M1 > &v, const ForceBase< F1 > &f)

template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionSphericalTpl< S2, O2 > &m2)

template<typename MotionDerived , typename S2 , int O2, int axis>
EIGEN_STRONG_INLINE MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteTpl< S2, O2, axis > &m2)

template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPlanarTpl< S2, O2 > &m2)

template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionTranslationTpl< S2, O2 > &m2)

template<typename Scalar >
const Scalar	PI ()
	Returns the value of PI according to the template parameters Scalar. More...

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector

	PINOCCHIO_DEFINE_ALGO_CHECKER (Parent)
	Simple model checker, that assert that model.parents is indeed a tree. More...

	PINOCCHIO_DEFINE_ALGO_CHECKER (CRBA)

	PINOCCHIO_DEFINE_ALGO_CHECKER (ABA)

	PINOCCHIO_DEFINE_COMPARISON_OP (equal_to_op,==)

	PINOCCHIO_DEFINE_COMPARISON_OP (not_equal_to_op,!=)

	PINOCCHIO_DEFINE_COMPARISON_OP (less_than_op,<)

	PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_op,>)

	PINOCCHIO_DEFINE_COMPARISON_OP (less_than_or_equal_to_op,<=)

	PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_or_equal_to_op,>=)

template<typename Matrix3 >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3) orthogonalProjection(const Eigen
	Orthogonal projection of a matrix on the SO(3) manifold. More...

template<typename Vector3 , typename Matrix3x >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3x) cross(const Eigen
	Applies the cross product onto the columns of M. More...

template<typename Matrix6Like , typename S2 , int O2>
	PINOCCHIO_EIGEN_REF_CONST_TYPE (Matrix6Like) operator*(const Eigen

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelRevoluteUnboundedUnalignedTpl)

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelFreeFlyerTpl)

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelSphericalZYXTpl)

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelSphericalTpl)

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelPlanarTpl)

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelTranslationTpl)

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelPrismaticUnalignedTpl)

	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION (JointModelRevoluteUnalignedTpl)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
PINOCCHIO_DEPRECATED Scalar	potentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool update_kinematics)
	Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...

std::string	printVersion (const std::string &delimiter=".")
	Returns the current version of Pinocchio as a string using the following standard: PINOCCHIO_MINOR_VERSION.PINOCCHIO_MINOR_VERSION.PINOCCHIO_PATCH_VERSION. More...

template<typename LieGroupCollection , class Config_t >
void	random (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout)

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	randomConfiguration (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< ConfigOut_t > &qout)

std::string	randomStringGenerator (const int len)
	Generate a random string composed of alphanumeric symbols of a given length. More...

std::string	retrieveResourcePath (const std::string &string, const std::vector< std::string > &package_dirs)
	Retrieve the path of the file whose path is given in an url-format. Currently convert from the following patterns : package:// or file://. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const 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)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 >
void	rnea (const int num_threads, ModelPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< TangentVectorPool1 > &v, const Eigen::MatrixBase< TangentVectorPool2 > &a, const Eigen::MatrixBase< TangentVectorPool3 > &tau)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >
const 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)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system, the desired joint accelerations and the external forces. More...

std::vector< std::string >	rosPaths ()
	Parse the environment variable ROS_PACKAGE_PATH and extract paths. More...

template<typename Vector3Like >
PINOCCHIO_DEPRECATED void	setGeometryMeshScales (GeometryModel &geom_model, const Eigen::MatrixBase< Vector3Like > &meshScale)
	Set a mesh scaling vector to each GeometryObject contained in the the GeometryModel. More...

PINOCCHIO_DEPRECATED void	setGeometryMeshScales (GeometryModel &geom_model, const double meshScale)
	Set an isotropic mesh scaling to each GeometryObject contained in the the GeometryModel. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
void	setIndexes (JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
	Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
std::string	shortname (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model. More...

template<typename Scalar >
Scalar	sign (const Scalar &t)
	Returns the robust sign of t. More...

template<typename S1 , typename S2 , typename S3 >
void	SINCOS (const S1 &a, S2 sa, S3 ca)
	Computes sin/cos values of a given input scalar. More...

template<typename Vector3 , typename Matrix3 >
void	skew (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation of the cross product operator ( $[v]_{\times} x = v \times x$ ) More...

template<typename D >
Eigen::Matrix< typename D::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(D)::Options >	skew (const Eigen::MatrixBase< D > &v)
	Computes the skew representation of a given 3D vector, i.e. the antisymmetric matrix representation of the cross product operator. More...

template<typename V1 , typename V2 , typename Matrix3 >
void	skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v, const Eigen::MatrixBase< Matrix3 > &C)
	Computes the square cross product linear operator C(u,v) such that for any vector w, $u \times ( v \times w ) = C(u,v) w$ . More...

template<typename V1 , typename V2 >
Eigen::Matrix< typename V1::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(V1)::Options >	skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v)
	Computes the square cross product linear operator C(u,v) such that for any vector w, $u \times ( v \times w ) = C(u,v) w$ . More...

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
ConfigL_t::Scalar	squaredDistance (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)

hpp::fcl::Transform3f	toFclTransform3f (const SE3 &m)

SE3	toPinocchioSE3 (const hpp::fcl::Transform3f &tf)

template<typename Vector3 , typename Scalar , typename Matrix3 >
void	toRotationMatrix (const Eigen::MatrixBase< Vector3 > &axis, const Scalar &cos_value, const Scalar &sin_value, const Eigen::MatrixBase< Matrix3 > &res)
	Computes a rotation matrix from a vector and values of sin and cos orientations values. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	u_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition. More...

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	udinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition. More...

template<typename Matrix3 , typename Vector3 >
void	unSkew (const Eigen::MatrixBase< Matrix3 > &M, const Eigen::MatrixBase< Vector3 > &v)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes such that $M x = v \times x$ . More...

template<typename Matrix3 >
Eigen::Matrix< typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Options >	unSkew (const Eigen::MatrixBase< Matrix3 > &M)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes such that $M x = v \times x$ . More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::SE3 &	updateFramePlacement (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id)
	Updates the placement of the given frame. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateFramePlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Updates the position of each frame contained in the model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Apply a forward kinematics and update the placement of the geometry objects. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
	Update the placement of the geometry objects according to the current joint placements contained in data. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateGlobalPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Update the global placement of the joints oMi according to the relative placements of the joints. More...

API with return value as argument
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType >
void	integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType >
void	integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u, const Eigen::MatrixBase< ReturnType > &qout)
	Interpolate two configurations for a given model. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout)
	Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout)
	Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out)
	Squared distance between two configuration vectors. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out)
	Squared distance between two configuration vectors. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
	Generate a configuration vector uniformly sampled among provided limits. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
	Generate a configuration vector uniformly sampled among provided limits. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType >
void	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
	Return the neutral configuration element related to the model configuration space. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType >
void	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
	Return the neutral configuration element related to the model configuration space. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg)
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg, const AssignmentOperatorType op)
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg)
	Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg)
	Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg)
	Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg)
	Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix >
void	dDifference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
	Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix >
void	dDifference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
	Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	squaredDistanceSum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Overall squared distance between two configuration vectors. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	squaredDistanceSum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Overall squared distance between two configuration vectors, namely $\|\| q_{1} \ominus q_{0} \|\|_2^{2}$ . More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	distance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Distance between two configuration vectors, namely $\|\| q_{1} \ominus q_{0} \|\|_2$ . More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	distance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Distance between two configuration vectors. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	normalize (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout)
	Normalize a configuration vector. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	normalize (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout)
	Normalize a configuration vector. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	isNormalized (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Check whether a configuration vector is normalized within the given precision provided by prec. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	isNormalized (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Check whether a configuration vector is normalized within the given precision provided by prec. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
bool	isSameConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Return true if the given configurations are equivalents, within the given precision. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
bool	isSameConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Return true if the given configurations are equivalents, within the given precision. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix >
void	integrateCoeffWiseJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< JacobianMatrix > &jacobian)
	Return the Jacobian of the integrate function for the components of the config vector. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix >
void	integrateCoeffWiseJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< JacobianMatrix > &jacobian)
	Return the Jacobian of the integrate function for the components of the config vector. More...

Variables
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef BiasZeroTpl< double, 0 >	BiasZero

template<typename Scalar , int Options = 0>
struct PINOCCHIO_DEPRECATED	BiasZeroTpl

	submodules = inspect.getmembers(pinocchio_pywrap, inspect.ismodule)

bool	WITH_HPP_FCL_BINDINGS = True

API that allocates memory
	Options

JointCollectionTpl &	model

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > &	q

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > &	v

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > &	q0

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > &	q1

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > const Scalar &	u

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > &	lowerLimits

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > &	upperLimits

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
	PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorType) integrate(const ModelTpl< Scalar
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
	PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorType) integrate(const ModelTpl< Scalar
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
	PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorIn1) interpolate(const ModelTpl< Scalar
	Interpolate two configurations for a given model. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
	PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorIn1) difference(const ModelTpl< Scalar
	Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among given limits. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among provided limits. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among the joint limits of the specified Model. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among the joint limits of the specified Model. More...

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Return the neutral configuration element related to the model configuration space. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Return the neutral configuration element related to the model configuration space. More...

Detailed Description

Main pinocchio namespace.

Typedef Documentation

typedef SpatialAxis<0> pinocchio::AxisVX

Definition at line 140 of file spatial-axis.hpp.

typedef SpatialAxis<1> pinocchio::AxisVY

Definition at line 141 of file spatial-axis.hpp.

typedef SpatialAxis<2> pinocchio::AxisVZ

Definition at line 142 of file spatial-axis.hpp.

typedef SpatialAxis<3> pinocchio::AxisWX

Definition at line 144 of file spatial-axis.hpp.

typedef SpatialAxis<4> pinocchio::AxisWY

Definition at line 145 of file spatial-axis.hpp.

typedef SpatialAxis<5> pinocchio::AxisWZ

Definition at line 146 of file spatial-axis.hpp.

typedef CartesianAxis<0> pinocchio::AxisX

Definition at line 143 of file cartesian-axis.hpp.

typedef CartesianAxis<1> pinocchio::AxisY

Definition at line 144 of file cartesian-axis.hpp.

typedef CartesianAxis<2> pinocchio::AxisZ

Definition at line 145 of file cartesian-axis.hpp.

typedef CartesianProductOperationVariantTpl<double, 0, LieGroupCollectionDefaultTpl> pinocchio::CartesianProductOperationVariant

Definition at line 18 of file cartesian-product-variant.hpp.

typedef ConstraintTpl<1,double,0> pinocchio::Constraint1d

Definition at line 13 of file constraint.hpp.

typedef ConstraintTpl<3,double,0> pinocchio::Constraint3d

Definition at line 16 of file constraint.hpp.

typedef ConstraintTpl<6,double,0> pinocchio::Constraint6d

Definition at line 17 of file constraint.hpp.

typedef ConstraintTpl<Eigen::Dynamic,double,0> pinocchio::ConstraintXd

Definition at line 18 of file constraint.hpp.

typedef ForceSetTpl<double,0> pinocchio::ForceSet

Definition at line 156 of file force-set.hpp.

typedef GeometryPoolTpl<double,0,JointCollectionDefaultTpl> pinocchio::GeometryPool

Definition at line 154 of file src/multibody/pool/geometry.hpp.

typedef JointTpl<double> pinocchio::Joint

Definition at line 19 of file joint-generic.hpp.

typedef JointDataPrismaticTpl<double,0,0> pinocchio::JointDataPX

Definition at line 640 of file joint-prismatic.hpp.

typedef JointDataPrismaticTpl<double,0,1> pinocchio::JointDataPY

Definition at line 644 of file joint-prismatic.hpp.

typedef JointDataPrismaticTpl<double,0,2> pinocchio::JointDataPZ

Definition at line 648 of file joint-prismatic.hpp.

typedef JointDataRevoluteUnboundedTpl<double,0,0> pinocchio::JointDataRUBX

Definition at line 193 of file joint-revolute-unbounded.hpp.

typedef JointDataRevoluteUnboundedTpl<double,0,1> pinocchio::JointDataRUBY

Definition at line 197 of file joint-revolute-unbounded.hpp.

typedef JointDataRevoluteUnboundedTpl<double,0,2> pinocchio::JointDataRUBZ

Definition at line 201 of file joint-revolute-unbounded.hpp.

typedef JointDataRevoluteTpl<double,0,0> pinocchio::JointDataRX

Definition at line 743 of file joint-revolute.hpp.

typedef JointDataRevoluteTpl<double,0,1> pinocchio::JointDataRY

Definition at line 747 of file joint-revolute.hpp.

typedef JointDataRevoluteTpl<double,0,2> pinocchio::JointDataRZ

Definition at line 751 of file joint-revolute.hpp.

typedef JointCollectionDefault::JointDataVariant pinocchio::JointDataVariant

Definition at line 149 of file joint-collection.hpp.

typedef JointModelPrismaticTpl<double,0,0> pinocchio::JointModelPX

Definition at line 641 of file joint-prismatic.hpp.

typedef JointModelPrismaticTpl<double,0,1> pinocchio::JointModelPY

Definition at line 645 of file joint-prismatic.hpp.

typedef JointModelPrismaticTpl<double,0,2> pinocchio::JointModelPZ

Definition at line 649 of file joint-prismatic.hpp.

typedef JointModelRevoluteUnboundedTpl<double,0,0> pinocchio::JointModelRUBX

Definition at line 194 of file joint-revolute-unbounded.hpp.

typedef JointModelRevoluteUnboundedTpl<double,0,1> pinocchio::JointModelRUBY

Definition at line 198 of file joint-revolute-unbounded.hpp.

typedef JointModelRevoluteUnboundedTpl<double,0,2> pinocchio::JointModelRUBZ

Definition at line 202 of file joint-revolute-unbounded.hpp.

typedef JointModelRevoluteTpl<double,0,0> pinocchio::JointModelRX

Definition at line 744 of file joint-revolute.hpp.

typedef JointModelRevoluteTpl<double,0,1> pinocchio::JointModelRY

Definition at line 748 of file joint-revolute.hpp.

typedef JointModelRevoluteTpl<double,0,2> pinocchio::JointModelRZ

Definition at line 752 of file joint-revolute.hpp.

typedef JointCollectionDefault::JointModelVariant pinocchio::JointModelVariant

Definition at line 148 of file joint-collection.hpp.

typedef JointPrismaticTpl<double,0,0> pinocchio::JointPX

Definition at line 639 of file joint-prismatic.hpp.

typedef JointPrismaticTpl<double,0,1> pinocchio::JointPY

Definition at line 643 of file joint-prismatic.hpp.

typedef JointPrismaticTpl<double,0,2> pinocchio::JointPZ

Definition at line 647 of file joint-prismatic.hpp.

typedef JointRevoluteUnboundedTpl<double,0,0> pinocchio::JointRUBX

Definition at line 192 of file joint-revolute-unbounded.hpp.

typedef JointRevoluteUnboundedTpl<double,0,1> pinocchio::JointRUBY

Definition at line 196 of file joint-revolute-unbounded.hpp.

typedef JointRevoluteUnboundedTpl<double,0,2> pinocchio::JointRUBZ

Definition at line 200 of file joint-revolute-unbounded.hpp.

typedef JointRevoluteTpl<double,0,0> pinocchio::JointRX

Definition at line 742 of file joint-revolute.hpp.

typedef JointRevoluteTpl<double,0,1> pinocchio::JointRY

Definition at line 746 of file joint-revolute.hpp.

typedef JointRevoluteTpl<double,0,2> pinocchio::JointRZ

Definition at line 750 of file joint-revolute.hpp.

typedef LieGroupCollectionDefaultTpl<double> pinocchio::LieGroupCollectionDefault

Definition at line 36 of file liegroup-collection.hpp.

typedef ModelPoolTpl<double,0,JointCollectionDefaultTpl> pinocchio::ModelPool

Definition at line 156 of file src/multibody/pool/model.hpp.

typedef MotionPlanarTpl<double> pinocchio::MotionPlanar

Definition at line 19 of file joint-planar.hpp.

typedef MotionPrismaticUnalignedTpl<double> pinocchio::MotionPrismaticUnaligned

Definition at line 19 of file joint-prismatic-unaligned.hpp.

typedef MotionRevoluteUnalignedTpl<double> pinocchio::MotionRevoluteUnaligned

Definition at line 18 of file joint-revolute-unaligned.hpp.

typedef MotionSphericalTpl<double> pinocchio::MotionSpherical

Definition at line 19 of file joint-spherical.hpp.

typedef MotionTranslationTpl<double> pinocchio::MotionTranslation

Definition at line 18 of file joint-translation.hpp.

Enumeration Type Documentation

anonymous enum

Enumerator
MAX_JOINT_NV

Definition at line 14 of file src/multibody/joint/fwd.hpp.

anonymous enum

Enumerator
SELF

Definition at line 17 of file liegroup-base.hpp.

enum pinocchio::ArgumentPosition

Argument position. Used as template parameter to refer to an argument.

Enumerator
ARG0
ARG1
ARG2
ARG3
ARG4

Definition at line 59 of file src/fwd.hpp.

enum pinocchio::AssignmentOperatorType

Enumerator
SETTO
ADDTO
RMTO

Definition at line 68 of file src/fwd.hpp.

enum pinocchio::FrameType

Enum on the possible types of frame.

Enumerator
OP_FRAME
JOINT
FIXED_JOINT
BODY
SENSOR

Definition at line 19 of file src/multibody/frame.hpp.

enum pinocchio::GeometryType

Enumerator
VISUAL
COLLISION

Definition at line 112 of file fcl.hpp.

enum pinocchio::ModelFileExtensionType

Supported model file extensions.

Enumerator
UNKNOWN
URDF

Definition at line 27 of file utils.hpp.

Function Documentation

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 >

void pinocchio::aba	(	const int	num_threads,
		ModelPoolTpl< Scalar, Options, JointCollectionTpl > &	pool,
		const Eigen::MatrixBase< ConfigVectorPool > &	q,
		const Eigen::MatrixBase< TangentVectorPool1 > &	v,
		const Eigen::MatrixBase< TangentVectorPool2 > &	tau,
		const Eigen::MatrixBase< TangentVectorPool3 > &	a
	)

A parallel version of the Articulated Body algorithm. It computes the forward dynamics, aka the joint acceleration according to the current state of the system and the desired joint torque.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorPool	Matrix type of the joint configuration vector.
TangentVectorPool1	Matrix type of the joint velocity vector.
TangentVectorPool2	Matrix type of the joint torque vector.
TangentVectorPool3	Matrix type of the joint acceleration vector.

Parameters

[in]	pool	Pool containing model and data for parallel computations.
[in]	num_threads	Number of threads used for parallel computations.
[in]	q	The joint configuration vector (dim model.nq x batch_size).
[in]	v	The joint velocity vector (dim model.nv x batch_size).
[in]	tau	The joint acceleration vector (dim model.nv x batch_size).
[out]	a	The joint torque vector (dim model.nv x batch_size).

Definition at line 32 of file algorithm/parallel/aba.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::aba	(	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 > &	tau
	)

inline

The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).

Note: This also overwrites data.f, possibly leaving it in an inconsistent state

Returns: The current joint acceleration stored in data.ddq.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::aba	(	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 > &	tau,
		const container::aligned_vector< ForceDerived > &	fext
	)

inline

The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
ForceDerived	Type of the external forces.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	fext	Vector of external forces expressed in the local frame of the joints (dim model.njoints)

Note: This also overwrites data.f, possibly leaving it in an inconsistent state

Returns: The current joint acceleration stored in data.ddq.

template<typename D >

void pinocchio::addJointAndBody	(	Model &	model,
		const JointModelBase< D > &	jmodel,
		const Model::JointIndex	parent_id,
		const SE3 &	joint_placement,
		const std::string &	name,
		const Inertia &	Y
	)

Definition at line 11 of file model-generator.hpp.

template<typename Vector3Like , typename Matrix3Like >

void pinocchio::addSkew	(	const Eigen::MatrixBase< Vector3Like > &	v,
		const Eigen::MatrixBase< Matrix3Like > &	M
	)

inline

Add skew matrix represented by a 3d vector to a given matrix, i.e. add the antisymmetric matrix representation of the cross product operator ( $[v]_{\times} x = v \times x$ )

Parameters

[in]	v	a vector of dimension 3.
[out]	M	the 3x3 matrix to which the skew matrix is added.

Definition at line 60 of file skew.hpp.

template<typename Scalar , typename Vector3 , typename Matrix3 >

void pinocchio::alphaSkew	(	const Scalar	alpha,
		const Eigen::MatrixBase< Vector3 > &	v,
		const Eigen::MatrixBase< Matrix3 > &	M
	)

Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( $[\alpha v]_{\times} x = \alpha v \times x$ )

Parameters

[in]	alpha	a real scalar.
[in]	v	a vector of dimension 3.
[out]	M	the skew matrix representation of dimension 3x3.

Definition at line 124 of file skew.hpp.

template<typename Scalar , typename Vector3 >

Eigen::Matrix<typename Vector3::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3)::Options> pinocchio::alphaSkew	(	const Scalar	alpha,
		const Eigen::MatrixBase< Vector3 > &	v
	)

inline

Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( $[\alpha v]_{\times} x = \alpha v \times x$ )

Parameters

[in]	alpha	a real scalar.
[in]	v	a vector of dimension 3.

Returns: the skew matrix representation of $\alpha v$ .

Definition at line 150 of file skew.hpp.

void pinocchio::appendGeometryModel	(	GeometryModel &	geom_model1,
		const GeometryModel &	geom_model2
	)

inline

Append geom_model2 to geom_model1

The steps for appending are:

add GeometryObject of geom_model2 to geom_model1,
add the collision pairs of geom_model2 into geom_model1 (indexes are updated)
add all the collision pairs between geometry objects of geom_model1 and geom_model2. It is possible to ommit both data (an additional function signature is available which makes them optionnal), then inner/outer objects are not updated.

Parameters

[out]	geom_model1	geometry model where the data is added
[in]	geom_model2	geometry model from which new geometries are taken

Note: Of course, the geom_data corresponding to geom_model1 will not be valid anymore, and should be updated (or more simply, re-created from the new setting of geom_model1).

Todo:: This function is not asserted in unittest.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::appendModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelA,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelB,
		const FrameIndex	frameInModelA,
		const SE3Tpl< Scalar, Options > &	aMb,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model
	)

Append a child model into a parent model, after a specific frame given by its index.

Parameters

[in]	modelA	the parent model.
[in]	modelB	the child model.
[in]	frameInModelA	index of the frame of modelA where to append modelB.
[in]	aMb	pose of modelB universe joint (index 0) in frameInModelA.
[out]	model	the resulting model.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar,Options,JointCollectionTpl> pinocchio::appendModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelA,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelB,
		const FrameIndex	frameInModelA,
		const SE3Tpl< Scalar, Options > &	aMb
	)

Append a child model into a parent model, after a specific frame given by its index.

Parameters

[in]	modelA	the parent model.
[in]	modelB	the child model.
[in]	frameInModelA	index of the frame of modelA where to append modelB.
[in]	aMb	pose of modelB universe joint (index 0) in frameInModelA.

Returns: A new model containing the fusion of modelA and modelB.

Definition at line 44 of file src/algorithm/model.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::appendModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelA,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelB,
		const GeometryModel &	geomModelA,
		const GeometryModel &	geomModelB,
		const FrameIndex	frameInModelA,
		const SE3Tpl< Scalar, Options > &	aMb,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geomModel
	)

Append a child model into a parent model, after a specific frame given by its index.

Parameters

[in]	modelA	the parent model.
[in]	modelB	the child model.
[in]	frameInModelA	index of the frame of modelA where to append modelB.
[in]	aMb	pose of modelB universe joint (index 0) in frameInModelA.
[out]	model	the resulting model.
[in]	geomModelA	the parent geometry model.
[in]	geomModelB	the child geometry model.
[out]	geomModel	the resulting geometry model.

template<int axis>

char pinocchio::axisLabel ( )

inline

Generate the label (X, Y or Z) of the axis relative to its index.

Template Parameters

axis	Index of the axis (either 0 for X, 1 for Y and Z for 2).

Returns: a char containing the label of the axis.

template<>

char pinocchio::axisLabel< 0 > ( )

inline

Definition at line 20 of file axis-label.hpp.

template<>

char pinocchio::axisLabel< 1 > ( )

inline

Definition at line 21 of file axis-label.hpp.

template<>

char pinocchio::axisLabel< 2 > ( )

inline

Definition at line 22 of file axis-label.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

MotionTpl<Scalar,Options> pinocchio::bias ( const JointDataTpl< Scalar, Options, JointCollectionTpl > & jdata )

inline

Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion.

Parameters

[in] jdata The joint data to visit.

Returns: The motion dense corresponding to the joint derived bias

template<typename MotionVelocity , typename MotionAcceleration , typename OutputType >

void pinocchio::bodyRegressor	(	const MotionDense< MotionVelocity > &	v,
		const MotionDense< MotionAcceleration > &	a,
		const Eigen::MatrixBase< OutputType > &	regressor
	)

inline

Computes the regressor for the dynamic parameters of a single rigid body.

The result is such that $I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters()$

Parameters

[in]	v	Velocity of the rigid body
[in]	a	Acceleration of the rigid body
[out]	regressor	The resulting regressor of the body.

template<typename MotionVelocity , typename MotionAcceleration >

Eigen::Matrix<typename MotionVelocity::Scalar,6,10,PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options> pinocchio::bodyRegressor	(	const MotionDense< MotionVelocity > &	v,
		const MotionDense< MotionAcceleration > &	a
	)

inline

Computes the regressor for the dynamic parameters of a single rigid body.

The result is such that $I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters()$

Parameters

[in]	v	Velocity of the rigid body
[in]	a	Acceleration of the rigid body

Returns: The regressor of the body.

void pinocchio::buildAllJointsModel ( Model & model )

Definition at line 33 of file model-generator.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		std::vector< JointIndex >	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	reduced_model
	)

Build a reduced model from a given input model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.
[out]	reduced_model	the reduced model.

Remarks: All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

Todo:: At the moment, the joint and geometry order is kept while the frames are re-ordered in a hard to predict way. Their order could be kept.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

ModelTpl<Scalar,Options,JointCollectionTpl> pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration
	)

Build a reduced model from a given input model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.

Returns: A reduce model of the input model.

Remarks: All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

Definition at line 112 of file src/algorithm/model.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const GeometryModel &	geom_model,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	reduced_model,
		GeometryModel &	reduced_geom_model
	)

Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	geom_model	the input geometry model to reduce.
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.
[out]	reduced_model	the reduced model.
[out]	reduced_geom_model	the reduced geometry model.

Remarks: All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename GeometryModelAllocator , typename ConfigVectorType >

void pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::vector< GeometryModel, GeometryModelAllocator > &	list_of_geom_models,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	reduced_model,
		std::vector< GeometryModel, GeometryModelAllocator > &	list_of_reduced_geom_models
	)

Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	list_of_geom_models	the input geometry model to reduce (example: visual_model, collision_model).
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.
[out]	reduced_model	the reduced model.
[out]	list_of_reduced_geom_model	the list of reduced geometry models.

Remarks: All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename Matrix6Type >

void pinocchio::calc_aba	(	const JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel,
		JointDataTpl< Scalar, Options, JointCollectionTpl > &	jdata,
		const Eigen::MatrixBase< Matrix6Type > &	I,
		const bool	update_I
	)

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6Type	A matrix 6x6 like Eigen container.

Parameters

[in]	jmodel	The corresponding JointModelVariant to the JointDataVariant we want to update
[in,out]	jdata	The JointDataVariant we want to update
[in,out]	I	Inertia matrix of the subtree following the jmodel in the kinematic chain as dense matrix
[in]	update_I	If I should be updated or not

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

void pinocchio::calc_first_order	(	const JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel,
		JointDataTpl< Scalar, Options, JointCollectionTpl > &	jdata,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	jmodel	The corresponding JointModelVariant to the JointDataVariant we want to update
	jdata	The JointDataVariant we want to update
[in]	q	The full model's (in which the joint belongs to) configuration vector
[in]	v	The full model's (in which the joint belongs to) velocity vector

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::calc_zero_order	(	const JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel,
		JointDataTpl< Scalar, Options, JointCollectionTpl > &	jdata,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	jmodel	The corresponding JointModelVariant to the JointDataVariant we want to update
	jdata	The JointDataVariant we want to update
[in]	q	The full model's (in which the joint belongs to) configuration vector

template<typename NewScalar , typename Scalar >

NewScalar pinocchio::cast ( const Scalar & value )

Definition at line 13 of file cast.hpp.

template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

CastType< NewScalar,JointModelTpl<Scalar,Options,JointCollectionTpl> >::type pinocchio::cast_joint ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...>

Template Parameters

NewScalar new scalar type of of the JointModelTpl

Parameters

[in] jmodel The joint model to cast.

Returns: A new JointModelTpl<NewScalar,...> casted from JointModelTpl<Scalar,...>.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x& pinocchio::ccrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta according to the current joint configuration and velocity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The Centroidal Momentum Matrix Ag.

Remarks: As another output, this algorithm also computes the Joint Jacobian matrix (accessible via data.J).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const bool	computeSubtreeComs = `true`
	)

inline

Computes the center of mass position of a given model according to a particular joint configuration. The result is accessible through data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

Returns: The center of mass position of the full rigid body system expressed in the world frame.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const bool	computeSubtreeComs = `true`
	)

inline

Computes the center of mass position and velocity of a given model according to a particular joint configuration and velocity. The result is accessible through data.com[0], data.vcom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

Returns: The center of mass position of the full rigid body system expressed in the world frame.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

const DataTpl<Scalar,Options,JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	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 bool	computeSubtreeComs = `true`
	)

inline

Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration. The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation. And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

Returns: The center of mass position of the full rigid body system expressed in the world frame.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		KinematicLevel	kinematic_level,
		const bool	computeSubtreeComs = `true`
	)

Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data and the requested kinematic_level. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	kinematic_level	if = POSITION, computes the CoM position, if = VELOCITY, also computes the CoM velocity and if = ACCELERATION, it also computes the CoM acceleration.
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

PINOCCHIO_DEPRECATED void pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		int	kinematic_level,
		const bool	computeSubtreeComs = `true`
	)

inline

Definition at line 146 of file center-of-mass.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const bool	computeSubtreeComs = `true`
	)

Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees, expressed in the local coordinate frame of each joint.

Definition at line 167 of file center-of-mass.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::checkData	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Check the validity of data wrt to model, in particular if model has been modified.

Parameters

[in]	model	reference model
[in]	data	corresponding data

Returns: True if data is valid wrt model.

ModelFileExtensionType pinocchio::checkModelFileExtension ( const std::string & filename )

inline

Extract the type of the given model file according to its extension.

Parameters

[in] filename The complete path to the model file.

Returns: The type of the extension of the model file

Definition at line 39 of file utils.hpp.

bool pinocchio::checkVersionAtLeast	(	unsigned int	major_version,
		unsigned int	minor_version,
		unsigned int	patch_version
	)

inline

Checks if the current version of Pinocchio is at least the version provided by the input arguments.

Parameters

[in]	major_version	Major version to check.
[in]	minor_version	Minor version to check.
[in]	patch_version	Patch version to check.

Returns: true if the current version of Pinocchio is greater than the version provided by the input arguments.

Definition at line 42 of file src/utils/version.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void pinocchio::computeABADerivatives	(	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 > &	tau,
		const Eigen::MatrixBase< MatrixType1 > &	aba_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	aba_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	aba_partial_dtau
	)

inline

The derivatives of the Articulated-Body algorithm.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[out]	aba_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	aba_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	aba_partial_dtau	Partial derivative of the generalized torque vector with respect to the joint torque.

Note: aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

See also: pinocchio::aba

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void pinocchio::computeABADerivatives	(	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 > &	tau,
		const container::aligned_vector< ForceTpl< Scalar, Options > > &	fext,
		const Eigen::MatrixBase< MatrixType1 > &	aba_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	aba_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	aba_partial_dtau
	)

inline

The derivatives of the Articulated-Body algorithm with external forces.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).
[out]	aba_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	aba_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	aba_partial_dtau	Partial derivative of the generalized torque vector with respect to the joint torque.

Note: aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

See also: pinocchio::aba

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio::computeABADerivatives	(	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 > &	tau
	)

inline

The derivatives of the Articulated-Body algorithm.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).

Returns: The results are stored in data.ddq_dq, data.ddq_dv and data.Minv which respectively correspond to the partial derivatives of the joint acceleration vector with respect to the joint configuration, velocity and torque. And as for pinocchio::computeMinverse, only the upper triangular part of data.Minv is filled.

See also: pinocchio::aba and; pinocchio::computeABADerivatives.

Definition at line 105 of file aba-derivatives.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio::computeABADerivatives	(	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 > &	tau,
		const container::aligned_vector< ForceTpl< Scalar, Options > > &	fext
	)

inline

The derivatives of the Articulated-Body algorithm with external forces.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).

Returns: The results are stored in data.ddq_dq, data.ddq_dv and data.Minv which respectively correspond to the partial derivatives of the joint acceleration vector with respect to the joint configuration, velocity and torque. And as for pinocchio::computeMinverse, only the upper triangular part of data.Minv is filled.

See also: pinocchio::aba and; pinocchio::computeABADerivatives.

Definition at line 137 of file aba-derivatives.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

void pinocchio::computeAllTerms	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes efficiently all the terms needed for dynamic simulation. It is equivalent to the call at the same time to:

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: All the results are stored in data. Please refer to the specific algorithm for further details.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

PINOCCHIO_DEPRECATED const DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::computeCentroidalDynamics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.

Parameters

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

Returns: The centroidal momenta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

Deprecated:: This function has been renamed into computeCentroidalMomentum. This signature will be removed in a future release of Pinocchio. Please consider using this new naming.

Definition at line 70 of file centroidal.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

PINOCCHIO_DEPRECATED const DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::computeCentroidalDynamics	(	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
	)

inline

Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.

Parameters

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

Returns: The centroidal momenta time derivative (stored in data.dhg), centroidal momemta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

Deprecated:: This function has been renamed into computeCentroidalMomentumTimeVariation. This signature will be removed in a future release of Pinocchio. Please consider using this new naming.

Definition at line 138 of file centroidal.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >

void pinocchio::computeCentroidalDynamicsDerivatives	(	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< Matrix6xLike0 > &	dh_dq,
		const Eigen::MatrixBase< Matrix6xLike1 > &	dhdot_dq,
		const Eigen::MatrixBase< Matrix6xLike2 > &	dhdot_dv,
		const Eigen::MatrixBase< Matrix6xLike3 > &	dhdot_da
	)

inline

Computes the analytical derivatives of the centroidal dynamics with respect to the joint configuration vector, velocity and acceleration.

Computes the first order approximation of the centroidal dynamics time derivative and corresponds to the following equation $d\dot{h_{g}} = \frac{\partial \dot{h_{g}}}{\partial \mathbf{q}} d\mathbf{q} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{v}} d\mathbf{v} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{a}} d\mathbf{a}$

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[out]	dh_dq	The partial derivative of the centroidal momentum with respect to the configuration vector (dim 6 x model.nv).
[out]	dhdot_dq	The partial derivative of the centroidal dynamics with respect to the configuration vector (dim 6 x model.nv).
[out]	dhdot_dv	The partial derivative of the centroidal dynamics with respect to the velocity vector (dim 6 x model.nv).
[out]	dhdot_da	The partial derivative of the centroidal dynamics with respect to the acceleration vector (dim 6 x model.nv).

Returns: It also computes the current centroidal dynamics and its time derivative. For information, the centroidal momentum matrix is equivalent to dhdot_da.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x& pinocchio::computeCentroidalMap	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the Centroidal Momentum Matrix,.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The Centroidal Momentum Matrix Ag.

Remarks: As another output, this algorithm also computes the Joint Jacobian matrix (accessible via data.J).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x& pinocchio::computeCentroidalMapTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the Centroidal Momentum Matrix time derivative.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The Centroidal Momentum Matrix time derivative dAg (accessible via data.dAg).

Remarks: As another output, this algorithm also computes the Centroidal Momentum Matrix Ag (accessible via data.Ag), the Joint Jacobian matrix (accessible via data.J) and the time derivatibe of the Joint Jacobian matrix (accessible via data.dJ).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.

Parameters

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

Returns: The centroidal momenta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The centroidal momenta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

Definition at line 53 of file centroidal.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentumTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.

Parameters

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

Returns: The centroidal momenta time derivative (stored in data.dhg), centroidal momemta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

const DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentumTimeVariation	(	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
	)

inline

Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns: The centroidal momenta time derivative (stored in data.dhg), centroidal momemta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

Definition at line 120 of file centroidal.hpp.

bool pinocchio::computeCollisions	(	const int	num_threads,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const bool	stopAtFirstCollision = `false`
	)

inline

Definition at line 16 of file src/algorithm/parallel/geometry.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

bool pinocchio::computeCollisions	(	const int	num_threads,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const bool	stopAtFirstCollision = `false`
	)

Definition at line 60 of file src/algorithm/parallel/geometry.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename CollisionVectorResult >

void pinocchio::computeCollisions	(	const int	num_threads,
		GeometryPoolTpl< Scalar, Options, JointCollectionTpl > &	pool,
		const Eigen::MatrixBase< ConfigVectorPool > &	q,
		const Eigen::MatrixBase< CollisionVectorResult > &	res,
		const bool	stopAtFirstCollision = `false`
	)

Definition at line 73 of file src/algorithm/parallel/geometry.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs& pinocchio::computeCoriolisMatrix	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the Coriolis Matrix $C(q,\dot{q})$ of the Lagrangian dynamics:

$\begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray}$

Note: In the previous equation, $c(q, \dot{q}) = C(q, \dot{q})\dot{q}$ .

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The Coriolis matrix stored in data.C.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio::computeForwardKinematicsDerivatives	(	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
	)

inline

Computes all the terms required to compute the derivatives of the placement, spatial velocity and acceleration for any joint of the model.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).

Remarks: This function is similar to do a forwardKinematics(model,data,q,v) followed by a computeJointJacobians(model,data,q). In addition, it computes the spatial velocity of the joint expressed in the world frame (see data.ov).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >

void pinocchio::computeFrameJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const FrameIndex	frameId,
		const ReferenceFrame	reference_frame,
		const Eigen::MatrixBase< Matrix6xLike > &	J
	)

inline

Computes the Jacobian of a specific Frame expressed in the desired reference_frame given as argument.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	frameId	The id of the Frame refering to model.frames[frameId].
[in]	reference_frame	Reference frame in which the Jacobian is expressed.
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns: The Jacobian of the specific Frame expressed in the desired reference frame (matrix 6 x model.nv).

Remarks: The result of this function is equivalent to call first computeJointJacobians(model,data,q), then updateFramePlacements(model,data) and then call getJointJacobian(model,data,jointId,rf,J), but forwardKinematics and updateFramePlacements are not fully computed.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >

void pinocchio::computeFrameJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const FrameIndex	frameId,
		const Eigen::MatrixBase< Matrix6xLike > &	J
	)

inline

Computes the Jacobian of a specific Frame expressed in the LOCAL frame coordinate system.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	frameId	The id of the Frame refering to model.frames[frameId].
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns: The Jacobian of the specific Frame expressed in the LOCAL frame coordinate system (matrix 6 x model.nv).

Remarks: The result of this function is equivalent to call first computeJointJacobians(model,data,q), then updateFramePlacements(model,data) and then call getJointJacobian(model,data,jointId,LOCAL,J), but forwardKinematics and updateFramePlacements are not fully computed.

Definition at line 218 of file frames.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >

void pinocchio::computeFrameKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xReturnType > &	kinematic_regressor
	)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input.

Remarks: It assumes that the framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frame_id	Index of the frame.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[out]	kinematic_regressor	The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x pinocchio::computeFrameKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf
	)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input.

Remarks: It assumes that the framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frame_id	Index of the frame.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

Definition at line 119 of file regressor.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::computeGeneralizedGravity	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the generalized gravity contribution $ g(q) $ of the Lagrangian dynamics:

$\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray}$

Note: This function is equivalent to pinocchio::rnea(model, data, q, 0, 0).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The generalized gravity torque stored in data.g.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >

void pinocchio::computeGeneralizedGravityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< ReturnMatrixType > &	gravity_partial_dq
	)

inline

Computes the partial derivative of the generalized gravity contribution with respect to the joint configuration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
ReturnMatrixType	Type of the matrix containing the partial derivative of the gravity vector with respect to the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[out]	gravity_partial_dq	Partial derivative of the generalized gravity vector with respect to the joint configuration.

Remarks: gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).

See also: pinocchio::computeGeneralizedGravity

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6Like >

void pinocchio::computeJointJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const JointIndex	jointId,
		const Eigen::MatrixBase< Matrix6Like > &	J
	)

inline

Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store the result in the input argument J.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	jointId	The id of the joint refering to model.joints[jointId].
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns: The Jacobian of the specific joint frame expressed in the local frame of the joint (matrix 6 x model.nv).

Remarks: The result of this function is equivalent to call first computeJointJacobians(model,data,q) and then call getJointJacobian(model,data,jointId,LOCAL,J), but forwardKinematics is not fully computed. It is worth to call jacobian if you only need a single Jacobian for a specific joint. Otherwise, for several Jacobians, it is better to call computeJointJacobians(model,data,q) followed by getJointJacobian(model,data,jointId,LOCAL,J) for each Jacobian.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x& pinocchio::computeJointJacobians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function computes also the forwardKinematics of the model.

Note: This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame.

See also: pinocchio::getJointJacobian for doing this specific extraction.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The full model Jacobian (matrix 6 x model.nv).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x& pinocchio::computeJointJacobians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function assumes that pinocchio::forwardKinematics has been called before.

Note: This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame.

See also: pinocchio::getJointJacobian for doing this specific extraction.

Template Parameters

JointCollection Collection of Joint types.

Parameters

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

Returns: The full model Jacobian (matrix 6 x model.nv).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x& pinocchio::computeJointJacobiansTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depends both on q and v. The result is accessible through data.dJ.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The full model Jacobian (matrix 6 x model.nv).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::computeJointKinematicHessians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See computeJointJacobians for such a function.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.

Parameters

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

Remarks: This function is also related to

See also: getJointKinematicHessian.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::computeJointKinematicHessians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).

Remarks: This function is also related to

See also: getJointKinematicHessian.

Definition at line 164 of file kinematics-derivatives.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >

void pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf,
		const SE3Tpl< Scalar, Options > &	placement,
		const Eigen::MatrixBase< Matrix6xReturnType > &	kinematic_regressor
	)

Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame.

Remarks: It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[in]	placement	Relative placement to the joint frame.
[out]	kinematic_regressor	The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf,
		const SE3Tpl< Scalar, Options > &	placement
	)

Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame.

Remarks: It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[in]	placement	Relative placement to the joint frame.

Definition at line 42 of file regressor.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >

void pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xReturnType > &	kinematic_regressor
	)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input.

Remarks: It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[out]	kinematic_regressor	The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf
	)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input.

Remarks: It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

Definition at line 81 of file regressor.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs& pinocchio::computeJointTorqueRegressor	(	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
	)

inline

Computes the joint torque regressor that links the joint torque to the dynamic parameters of each link according to the current the robot motion.

The result is stored in data.jointTorqueRegressor and it corresponds to a matrix $ Y $ such that $\tau = Y(q,\dot{q},\ddot{q})\pi$ where $\pi = (\pi_1^T\ \dots\ \pi_n^T)^T$ and $\pi_i = \text{model.inertias[i].toDynamicParameters()}$

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns: The joint torque regressor of the system.

Warning: This function writes temporary information in data.bodyRegressor. This means if you have valuable data in it it will be overwritten.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

Scalar pinocchio::computeKineticEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy.

Template Parameters

JointCollection Collection of Joint types.

Parameters

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

Returns: The kinetic energy of the system in [J].

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

Scalar pinocchio::computeKineticEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The kinetic energy of the system in [J].

Definition at line 48 of file energy.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ConstraintMatrixType , typename KKTMatrixType >

void pinocchio::computeKKTContactDynamicMatrixInverse	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Eigen::MatrixBase< KKTMatrixType > &	KKTMatrix_inv,
		const Scalar &	inv_damping = `0.`
	)

Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix:

$\left[\begin{matrix}\mathbf{M}^{-1}-\mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & \mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1} \\ \widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & -\widehat{\mathbf{M}}^{-1}\end{matrix}\right]$

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	J	Jacobian of the constraints.
[out]	KKTMatrix_inv	inverse of the MJtJ matrix.
[in]	inv_damping	regularization coefficient.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::RowMatrixXs& pinocchio::computeMinverse	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the inverse of the joint space inertia matrix using Articulated Body formulation.

Remarks: Only the upper triangular part of the matrix is filled.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The inverse of the joint space inertia matrix stored in data.Minv.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

Scalar pinocchio::computePotentialEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy.

Template Parameters

JointCollection Collection of Joint types.

Note

This potential energy are of the for $\sum_{i} - m_{i}gh_{i}$ where:

$m_{i}$ is the mass of the body ,
$h_{i}$ is the height of the body ,
is the gravity value.

Template Parameters

JointCollection Collection of Joint types.

Parameters

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

Returns: The potential energy of the system expressed in [J].

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

Scalar pinocchio::computePotentialEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Note

This potential energy are of the for $\sum_{i} - m_{i}gh_{i}$ where:

$m_{i}$ is the mass of the body ,
$h_{i}$ is the height of the body ,
is the gravity value.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The potential energy of the system expressed in [J].

Definition at line 131 of file energy.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void pinocchio::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
	)

inline

Computes the partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[out]	rnea_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	rnea_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	rnea_partial_da	Partial derivative of the generalized torque vector with respect to the joint acceleration.

Remarks: rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc). As for pinocchio::crba, only the upper triangular part of rnea_partial_da is filled.

See also: pinocchio::rnea

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void pinocchio::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
	)

inline

Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).
[out]	rnea_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	rnea_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	rnea_partial_da	Partial derivative of the generalized torque vector with respect to the joint acceleration.

Remarks: rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc). As for pinocchio::crba, only the upper triangular part of rnea_partial_da is filled.

See also: pinocchio::rnea

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio::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
	)

inline

Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns: The results are stored in data.dtau_dq, data.dtau_dv and data.M which respectively correspond to the partial derivatives of the joint torque vector with respect to the joint configuration, velocity and acceleration. As for pinocchio::crba, only the upper triangular part of data.M is filled.

See also: pinocchio::rnea, pinocchio::crba, pinocchio::cholesky::decompose

Definition at line 167 of file rnea-derivatives.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio::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
	)

inline

Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).

Returns: The results are stored in data.dtau_dq, data.dtau_dv and data.M which respectively correspond to the partial derivatives of the joint torque vector with respect to the joint configuration, velocity and acceleration. As for pinocchio::crba, only the upper triangular part of data.M is filled.

See also: pinocchio::rnea, pinocchio::crba, pinocchio::cholesky::decompose

Definition at line 201 of file rnea-derivatives.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::computeStaticRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot.

The result is stored in data.staticRegressor and it corresponds to a matrix $ Y $ such that $c = Y(q,\dot{q},\ddot{q})\tilde{\pi}$ where $\tilde{\pi} = (\tilde{\pi}_1^T\ \dots\ \tilde{\pi}_n^T)^T$ and $\tilde{\pi}_i = \text{model.inertias[i].toDynamicParameters().head<4>()}$

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The static regressor of the system.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The static regressor of the system.

Deprecated:: This function is now in the main pinocchio namespace

Definition at line 176 of file regressor.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::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
	)

inline

Computes the generalized static torque contribution $g(q) - \sum J(q)^{\top} f_{\text{ext}}$ of the Lagrangian dynamics:

$\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau + \sum J(q)^{\top} f_{\text{ext}} \end{eqnarray}$

. This torque vector accouts for the contribution of the gravity and the external forces.

Note: This function is equivalent to pinocchio::rnea(model, data, q, 0, 0, fext).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).

Returns: The generalized static torque stored in data.tau.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >

void pinocchio::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
	)

inline

Computes the partial derivative of the generalized gravity and external forces contributions (a.k.a static torque vector) with respect to the joint configuration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
ReturnMatrixType	Type of the matrix containing the partial derivative of the gravity vector with respect to the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).
[out]	static_torque_partial_dq	Partial derivative of the static torque vector with respect to the joint configuration.

Remarks: gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).

See also: pinocchio::computeGeneralizedTorque

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::computeSubtreeMasses	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Compute the mass of each kinematic subtree and store it in data.mass. The element mass[0] corresponds to the total mass of the model.

Parameters

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

Note: If you are only interested in knowing the total mass of the model, computeTotalMass will probably be slightly faster.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

Scalar pinocchio::computeTotalMass ( const ModelTpl< Scalar, Options, JointCollectionTpl > & model )

inline

Compute the total mass of the model and return it.

Parameters

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

Returns: Total mass of the model.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

Scalar pinocchio::computeTotalMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Compute the total mass of the model, put it in data.mass[0] and return it.

Parameters

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

Warning: This method does not fill the whole data.mass vector. Only data.mass[0] is updated. If you need the whole data.mass vector to be computed, use computeSubtreeMasses

Returns: Total mass of the model.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

ConstraintTpl<Eigen::Dynamic,Scalar,Options> pinocchio::constraint_xd ( const JointDataTpl< Scalar, Options, JointCollectionTpl > & jdata )

inline

Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint.

Parameters

[in] jdata The joint data to visit.

Returns: The constraint dense corresponding to the joint derived constraint

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::copy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	origin,
		DataTpl< Scalar, Options, JointCollectionTpl > &	dest,
		KinematicLevel	kinematic_level
	)

inline

Copy part of the data from origin to dest. Template parameter can be used to select at which differential level the copy should occur.

Template Parameters

JointCollection Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	orig	Data from which the values are copied.
[out]	dest	Data to which the values are copied
[in]	kinematic_level	if =0, copy oMi. If =1, also copy v. If =2, also copy a, a_gf and f.

Definition at line 52 of file copy.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

PINOCCHIO_DEPRECATED void pinocchio::copy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	origin,
		DataTpl< Scalar, Options, JointCollectionTpl > &	dest,
		int	kinematic_level
	)

inline

Definition at line 34 of file copy.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs& pinocchio::crba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M.

Note: You can easly get data.M symetric by copying the stricly upper trinangular part in the stricly lower tringular part with data.M.triangularView<Eigen::StrictlyLower>() = data.M.transpose().triangularView<Eigen::StrictlyLower>();

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The joint space inertia matrix with only the upper triangular part computed.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs& pinocchio::crbaMinimal	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M.

Note: You can easly get data.M symetric by copying the stricly upper trinangular part in the stricly lower tringular part with data.M.triangularView<Eigen::StrictlyLower>() = data.M.transpose().triangularView<Eigen::StrictlyLower>();

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Note: A direct outcome of this algorithm is the computation of the centroidal momemntum matrix (data.Ag) and the joint jacobian matrix (data.J).

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns: The joint space inertia matrix with only the upper triangular part computed.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

JointDataTpl<Scalar,Options,JointCollectionTpl> pinocchio::createData ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

inline

Visit a JointModelTpl through CreateData visitor to create a JointDataTpl.

Template Parameters

JointCollection Collection of Joint types.

Parameters

[in] jmodel The JointModelTpl we want to create a data for.

Returns: The created JointDataTpl

template<typename Vector3 , typename Matrix3xIn , typename Matrix3xOut >

void pinocchio::cross	(	const Eigen::MatrixBase< Vector3 > &	v,
		const Eigen::MatrixBase< Matrix3xIn > &	Min,
		const Eigen::MatrixBase< Matrix3xOut > &	Mout
	)

inline

Applies the cross product onto the columns of M.

Parameters

[in]	v	a vector of dimension 3.
[in]	Min	a 3 rows matrix.
[out]	Mout	a 3 rows matrix.

Returns: the results of $Mout = [v]_{\times} Min$ .

Definition at line 211 of file skew.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x& pinocchio::dccrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration and velocity vectors.

Note: The computed terms allow to decomposed the spatial momentum variation as following: $\dot{h} = A_g \ddot{q} + \dot{A_g}(q,\dot{q})\dot{q}$ .

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The Centroidal Momentum Matrix time derivative dAg (accessible via data.dAg).

Remarks: As another output, this algorithm also computes the Centroidal Momentum Matrix Ag (accessible via data.Ag), the Joint Jacobian matrix (accessible via data.J) and the time derivatibe of the Joint Jacobian matrix (accessible via data.dJ).

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianOut_t >

void pinocchio::dDifference	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< JacobianOut_t > &	J,
		const ArgumentPosition	arg
	)

template<ArgumentPosition arg, typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::dDifference	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< JacobianIn_t > &	Jin,
		int	self,
		const Eigen::MatrixBase< JacobianOut_t > &	Jout
	)

template<ArgumentPosition arg, typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::dDifference	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		int	self,
		const Eigen::MatrixBase< JacobianIn_t > &	Jin,
		const Eigen::MatrixBase< JacobianOut_t > &	Jout
	)

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix >

void pinocchio::dDifference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector1 > &	q0,
		const Eigen::MatrixBase< ConfigVector2 > &	q1,
		const Eigen::MatrixBase< JacobianMatrix > &	J,
		const ArgumentPosition	arg
	)

Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling $ d(q0, q1) $ the difference function, these jacobians satisfy the following relationships in the tangent space:

Jacobian relative to q0: $d(q_0 \oplus \delta q_0, q_1) \ominus d(q_0, q_1) = J_{q_0} \delta q_0 + o(\| \delta q_0 \|)$ .
Jacobian relative to q1: $d(q_0, q_1 \oplus \delta q_1) \ominus d(q_0, q_1) = J_{q_1} \delta q_1 + o(\| \delta q_1 \|)$ .

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Joint velocity (size model.nv)
[out]	J	Jacobian of the Difference operation, either with respect to q0 or q1 (size model.nv x model.nv).
[in]	arg	Argument (either q0 or q1) with respect to which the differentiation is performed.

Definition at line 507 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix >

void pinocchio::dDifference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector1 > &	q0,
		const Eigen::MatrixBase< ConfigVector2 > &	q1,
		const Eigen::MatrixBase< JacobianMatrix > &	J,
		const ArgumentPosition	arg
	)

Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling $ d(q0, q1) $ the difference function, these jacobians satisfy the following relationships in the tangent space:

Jacobian relative to q0: $d(q_0 \oplus \delta q_0, q_1) \ominus d(q_0, q_1) = J_{q_0} \delta q_0 + o(\| \delta q_0 \|)$ .
Jacobian relative to q1: $d(q_0, q_1 \oplus \delta q_1) \ominus d(q_0, q_1) = J_{q_1} \delta q_1 + o(\| \delta q_1 \|)$ .

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Joint velocity (size model.nv)
[out]	J	Jacobian of the Difference operation, either with respect to q0 or q1 (size model.nv x model.nv).
[in]	arg	Argument (either q0 or q1) with respect to which the differentiation is performed.

Definition at line 507 of file joint-configuration.hpp.

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class Tangent_t >

void pinocchio::difference	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< Tangent_t > &	v
	)

inline

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >

void pinocchio::difference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	dvout
	)

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

This function corresponds to the log map of the joint configuration Lie Group. Its output can be interpreted as a difference from the joint configuration space to the Lie algebra $q_1 \ominus q_0$ .

Parameters

[in]	model	Model of the system on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Desired configuration (size model.nq)
[out]	dvout	The corresponding velocity (size model.nv)

This function corresponds to the log map of the joint configuration Lie Group. Its output can be interpreted as a difference from the joint configuration space to the Lie algebra $q_1 \ominus q_0$ .

Parameters

[in]	model	Model of the system on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Desired configuration (size model.nq)
[out]	dvout	The corresponding velocity (size model.nv).

Definition at line 142 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >

void pinocchio::difference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	dvout
	)

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

This function corresponds to the log map of the joint configuration Lie Group. Its output can be interpreted as a difference from the joint configuration space to the Lie algebra $q_1 \ominus q_0$ .

Parameters

[in]	model	Model of the system on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Desired configuration (size model.nq)
[out]	dvout	The corresponding velocity (size model.nv).

Definition at line 142 of file joint-configuration.hpp.

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >

void pinocchio::dIntegrate	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianOut_t > &	J,
		const ArgumentPosition	arg,
		const AssignmentOperatorType	op = `SETTO`
	)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::dIntegrate	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianIn_t > &	J_in,
		int	self,
		const Eigen::MatrixBase< JacobianOut_t > &	J_out,
		const ArgumentPosition	arg,
		const AssignmentOperatorType	op = `SETTO`
	)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::dIntegrate	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		int	self,
		const Eigen::MatrixBase< JacobianIn_t > &	J_in,
		const Eigen::MatrixBase< JacobianOut_t > &	J_out,
		const ArgumentPosition	arg,
		const AssignmentOperatorType	op = `SETTO`
	)

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >

void pinocchio::dIntegrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg,
		const AssignmentOperatorType	op
	)

Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling $ f(q, v) $ the integrate function, these jacobians satisfy the following relationships in the tangent space:

Jacobian relative to q: $f(q \oplus \delta q, v) \ominus f(q, v) = J_q \delta q + o(\delta q)$ .
Jacobian relative to v: $f(q, v + \delta v) \ominus f(q, v) = J_v \delta v + o(\delta v)$ .

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling $ f(q, v) $ the integrate function, these jacobians satisfy the following relationships in the tangent space:

Jacobian relative to q: $f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) \delta q + o(\delta q)$ .
Jacobian relative to v: $f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v + o(\delta v)$ .

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

Definition at line 337 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >

void pinocchio::dIntegrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg
	)

Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling $ f(q, v) $ the integrate function, these jacobians satisfy the following relationships in the tangent space:

Jacobian relative to q: $f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) \delta q + o(\delta q)$ .
Jacobian relative to v: $f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v + o(\delta v)$ .

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

Definition at line 308 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >

void pinocchio::dIntegrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg,
		const AssignmentOperatorType	op
	)

Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling $ f(q, v) $ the integrate function, these jacobians satisfy the following relationships in the tangent space:

Jacobian relative to q: $f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) \delta q + o(\delta q)$ .
Jacobian relative to v: $f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v + o(\delta v)$ .

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

Definition at line 337 of file joint-configuration.hpp.

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::dIntegrateTransport	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianIn_t > &	J_in,
		const Eigen::MatrixBase< JacobianOut_t > &	J_out,
		const ArgumentPosition	arg
	)

template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >

void pinocchio::dIntegrateTransport	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianOut_t > &	J,
		const ArgumentPosition	arg
	)

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 >

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType1 > &	Jin,
		const Eigen::MatrixBase< JacobianMatrixType2 > &	Jout,
		const ArgumentPosition	arg
	)

Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element $q \oplus v$ , to the tangent space at $ q $ . It performs the product with the Jacobian of integrate by exploiting at best the sparsity of the underlying operations. In other words, this functions transforms a tangent vector expressed at $q \oplus v$ to a tangent vector expressed at $ q $ , considering that the change of configuration between $q \oplus v$ and $ q $ may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation $M \in \text{SE}(3)$ on a spatial velocity $v \in \text{se}(3)$ . In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	Jin	Input matrix (number of rows = model.nv).
[out]	Jout	Output matrix (same size as Jin).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 398 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 >

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType1 > &	Jin,
		const Eigen::MatrixBase< JacobianMatrixType2 > &	Jout,
		const ArgumentPosition	arg
	)

Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element $q \oplus v$ , to the tangent space at $ q $ . It performs the product with the Jacobian of integrate by exploiting at best the sparsity of the underlying operations. In other words, this functions transforms a tangent vector expressed at $q \oplus v$ to a tangent vector expressed at $ q $ , considering that the change of configuration between $q \oplus v$ and $ q $ may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation $M \in \text{SE}(3)$ on a spatial velocity $v \in \text{se}(3)$ . In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	Jin	Input matrix (number of rows = model.nv).
[out]	Jout	Output matrix (same size as Jin).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 398 of file joint-configuration.hpp.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg
	)

Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element $q \oplus v$ , to the tangent space at $ q $ . In other words, this functions transforms a tangent vector expressed at $q \oplus v$ to a tangent vector expressed at $ q $ , considering that the change of configuration between $q \oplus v$ and $ q $ may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation $M \in \text{SE}(3)$ on a spatial velocity $v \in \text{se}(3)$ . In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[in,out]	J	Input/output matrix (number of rows = model.nv).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 454 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg
	)

Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element $q \oplus v$ , to the tangent space at $ q $ . In other words, this functions transforms a tangent vector expressed at $q \oplus v$ to a tangent vector expressed at $ q $ , considering that the change of configuration between $q \oplus v$ and $ q $ may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation $M \in \text{SE}(3)$ on a spatial velocity $v \in \text{se}(3)$ . In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[in,out]	J	Input/output matrix (number of rows = model.nv).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 454 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> pinocchio::dinv_inertia ( const JointDataTpl< Scalar, Options, JointCollectionTpl > & jdata )

inline

Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition.

Parameters

[in] jdata The jdata

Returns: The D^{-1} matrix of the inertia matrix decomposition

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >

ConfigL_t::Scalar pinocchio::distance	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1
	)

inline

Definition at line 97 of file liegroup-variant-visitors.hpp.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

Scalar pinocchio::distance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

inline

Distance between two configuration vectors, namely $|| q_{1} \ominus q_{0} ||_2$ .

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns: The distance between the two configurations q0 and q1.

Distance between two configuration vectors, namely $|| q_{1} \ominus q_{0} ||_2$ .

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns: The distance between the two configurations q0 and q1.

Definition at line 581 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

Scalar pinocchio::distance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

inline

Distance between two configuration vectors.

Distance between two configuration vectors, namely $|| q_{1} \ominus q_{0} ||_2$ .

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns: The distance between the two configurations q0 and q1.

Definition at line 581 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::emptyForwardPassBinaryVisit	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Definition at line 119 of file timings.cpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::emptyForwardPassBinaryVisitNoData	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Definition at line 153 of file timings.cpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::emptyForwardPassUnaryVisit	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Definition at line 51 of file timings.cpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::emptyForwardPassUnaryVisitNoData	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Definition at line 83 of file timings.cpp.

template<typename Vector3Like >

Eigen::Matrix<typename Vector3Like::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::exp3 ( const Eigen::MatrixBase< Vector3Like > & v )

Exp: so3 -> SO3.

Return the integral of the input angular velocity during time 1.

Parameters

[in] v The angular velocity vector.

Returns: The rotational matrix associated to the integration of the angular velocity during time 1.

Definition at line 34 of file src/spatial/explog.hpp.

template<typename MotionDerived >

SE3Tpl<typename MotionDerived::Scalar,PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionDerived::Vector3)::Options> pinocchio::exp6 ( const MotionDense< MotionDerived > & nu )

Exp: se3 -> SE3.

Return the integral of the input twist during time 1.

Parameters

[in] nu The input twist.

Returns: The rigid transformation associated to the integration of the twist during time 1.

Definition at line 296 of file src/spatial/explog.hpp.

template<typename Vector6Like >

SE3Tpl<typename Vector6Like::Scalar,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> pinocchio::exp6 ( const Eigen::MatrixBase< Vector6Like > & v )

Exp: se3 -> SE3.

Return the integral of the input spatial velocity during time 1.

Parameters

[in] v The twist represented by a vector.

Returns: The rigid transformation associated to the integration of the twist vector during time 1..

Definition at line 355 of file src/spatial/explog.hpp.

PINOCCHIO_DLLAPI void pinocchio::extractPathFromEnvVar	(	const std::string &	env_var_name,
		std::vector< std::string > &	list_of_paths,
		const std::string &	delimiter = `":"`
	)

Parse an environment variable if exists and extract paths according to the delimiter.

Parameters

[in]	env_var_name	The name of the environment variable.
[out]	list_of_paths	List of path to fill with the paths extracted from the environment variable value.
[in]	delimiter	The delimiter between two consecutive paths.

Definition at line 11 of file file-explorer.cpp.

PINOCCHIO_DLLAPI std::vector< std::string > pinocchio::extractPathFromEnvVar	(	const std::string &	env_var_name,
		const std::string &	delimiter = `":"`
	)

Parse an environment variable if exists and extract paths according to the delimiter.

Parameters

[in]	env_var_name	The name of the environment variable.
[in]	delimiter	The delimiter between two consecutive paths.

Returns: The vector of paths extracted from the environment variable value.

Definition at line 37 of file file-explorer.cpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ConstraintMatrixType , typename DriftVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::forwardDynamics	(	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 > &	tau,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Eigen::MatrixBase< DriftVectorType > &	gamma,
		const Scalar	inv_damping = `0.`
	)

inline

Compute the forward dynamics with contact constraints. Internally, pinocchio::computeAllTerms is called.

Note: It computes the following problem:
$\begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ % \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray}$
where $\ddot{q}_{\text{free}}$ is the free acceleration (i.e. without constraints), is the mass matrix, the constraint Jacobian and $\gamma$ is the constraint drift. By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
ConstraintMatrixType	Type of the constraint matrix.
DriftVectorType	Type of the drift vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	gamma	The drift of the constraints (dim nb_constraints).
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Note: A hint: 1e-12 as the damping factor gave good result in the particular case of redundancy in contact constraints on the two feet.

Returns: A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename TangentVectorType , typename ConstraintMatrixType , typename DriftVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::forwardDynamics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< TangentVectorType > &	tau,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Eigen::MatrixBase< DriftVectorType > &	gamma,
		const Scalar	inv_damping = `0.`
	)

inline

Compute the forward dynamics with contact constraints, assuming pinocchio::computeAllTerms has been called.

Note: It computes the following problem:
$\begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ % \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray}$
where $\ddot{q}_{\text{free}}$ is the free acceleration (i.e. without constraints), is the mass matrix, the constraint Jacobian and $\gamma$ is the constraint drift. By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
ConstraintMatrixType	Type of the constraint matrix.
DriftVectorType	Type of the drift vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	v	The joint velocity (vector dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	gamma	The drift of the constraints (dim nb_constraints).
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Note: A hint: 1e-12 as the damping factor gave good result in the particular case of redundancy in contact constraints on the two feet.

Returns: A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ConstraintMatrixType , typename DriftVectorType >

PINOCCHIO_DEPRECATED const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::forwardDynamics	(	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 > &	tau,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Eigen::MatrixBase< DriftVectorType > &	gamma,
		const Scalar	inv_damping,
		const bool	updateKinematics
	)

inline

Compute the forward dynamics with contact constraints.

Deprecated:: This function signature has been deprecated and will be removed in future releases of Pinocchio. Please change for the new signature of forwardDynamics(model,data[,q],v,tau,J,gamma[,inv_damping]).

Note: It computes the following problem:
$\begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ % \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray}$
where $\ddot{q}_{\text{free}}$ is the free acceleration (i.e. without constraints), is the mass matrix, the constraint Jacobian and $\gamma$ is the constraint drift. By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
ConstraintMatrixType	Type of the constraint matrix.
DriftVectorType	Type of the drift vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	gamma	The drift of the constraints (dim nb_constraints).
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.
[in]	updateKinematics	If true, the algorithm calls first pinocchio::computeAllTerms. Otherwise, it uses the current dynamic values stored in data. \ %

Note: A hint: 1e-12 as the damping factor gave good result in the particular case of redundancy in contact constraints on the two feet.

Returns: A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.

Definition at line 130 of file contact-dynamics.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::forwardKinematics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Update the joint placements according to the current joint configuration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

void pinocchio::forwardKinematics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Update the joint placements and spatial velocities according to the current joint configuration and velocity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio::forwardKinematics	(	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
	)

inline

Update the joint placements, spatial velocities and spatial accelerations according to the current joint configuration, velocity and acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).
[in]	a	The joint acceleration (vector dim model.nv).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

DataTpl<Scalar,Options,JointCollectionTpl>::BodyRegressorType& pinocchio::frameBodyRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		FrameIndex	frameId
	)

inline

Computes the regressor for the dynamic parameters of a rigid body attached to a given frame, puts the result in data.bodyRegressor and returns it.

This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.

The result is such that $f = \text{frameBodyRegressor(model,data,frameId) * I.toDynamicParameters()}$ where $ f $ is the net force acting on the body, including gravity

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frameId	The id of the frame.

Returns: The dynamic regressor of the body.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >

PINOCCHIO_DEPRECATED void pinocchio::frameJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const FrameIndex	frameId,
		const Eigen::MatrixBase< Matrix6xLike > &	J
	)

inline

This function is now deprecated and has been renamed computeFrameJacobian. This signature will be removed in future release of Pinocchio.

Computes the Jacobian of a specific Frame expressed in the desired reference_frame given as argument.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	frameId	The id of the Frame refering to model.frames[frameId].
[in]	reference_frame	Reference frame in which the Jacobian is expressed.
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns: The Jacobian of the specific Frame expressed in the desired reference frame (matrix 6 x model.nv).

Remarks: The result of this function is equivalent to call first computeJointJacobians(model,data,q), then updateFramePlacements(model,data) and then call getJointJacobian(model,data,jointId,rf,J), but forwardKinematics and updateFramePlacements are not fully computed.

Definition at line 235 of file frames.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::framesForwardKinematics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

First calls the forwardKinematics on the model, then computes the placement of each frame. /sa pinocchio::forwardKinematics.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.
[in]	q	Configuration vector.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

PINOCCHIO_DEPRECATED void pinocchio::framesForwardKinematics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Updates the position of each frame contained in the model. This function is now deprecated and has been renamed updateFramePlacements.

Template Parameters

JointCollection Collection of Joint types.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.

Warning: One of the algorithms forwardKinematics should have been called first.

Definition at line 76 of file frames.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

MotionTpl<Scalar, Options> pinocchio::getAcceleration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	jointId,
		const ReferenceFrame	rf = `LOCAL`
	)

inline

Returns the spatial acceleration of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	jointId	Id of the joint
[in]	rf	Reference frame in which the acceleration is expressed.

Returns: The spatial acceleration of the joint expressed in the desired reference frame.

Warning: Second order forwardKinematics should have been called first

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut >

void pinocchio::getCenterOfMassVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< Matrix3xOut > &	vcom_partial_dq
	)

inline

Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration q. You must first call computeAllTerms(model,data,q,v) or computeCenterOfMass(model,data,q,v) before calling this function.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xOut	Matrix3x containing the partial derivatives of the CoM velocity with respect to the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[out]	v_partial_dq	Partial derivative of the CoM velocity w.r.t. .

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >

void pinocchio::getCentroidalDynamicsDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< Matrix6xLike1 > &	dh_dq,
		const Eigen::MatrixBase< Matrix6xLike1 > &	dhdot_dq,
		const Eigen::MatrixBase< Matrix6xLike2 > &	dhdot_dv,
		const Eigen::MatrixBase< Matrix6xLike3 > &	dhdot_da
	)

inline

Retrive the analytical derivatives of the centroidal dynamics from the RNEA derivatives. pinocchio::computeRNEADerivatives should have been called first.

Computes the first order approximation of the centroidal dynamics time derivative and corresponds to the following equation $d\dot{h_{g}} = \frac{\partial \dot{h_{g}}}{\partial \mathbf{q}} d\mathbf{q} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{v}} d\mathbf{v} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{a}} d\mathbf{a}$

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[out]	dhdot_dq	The partial derivative of the centroidal dynamics with respect to the configuration vector (dim 6 x model.nv).
[out]	dhdot_dv	The partial derivative of the centroidal dynamics with respect to the velocity vector (dim 6 x model.nv).
[out]	dhdot_da	The partial derivative of the centroidal dynamics with respect to the acceleration vector (dim 6 x model.nv).

Returns: It also computes the current centroidal dynamics and its time derivative. For information, the centroidal momentum matrix is equivalent to dhdot_da.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

MotionTpl<Scalar, Options> pinocchio::getClassicalAcceleration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	jointId,
		const ReferenceFrame	rf = `LOCAL`
	)

inline

Returns the "classical" acceleration of the joint expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	jointId	Id of the joint
[in]	rf	Reference frame in which the acceleration is expressed.

Returns: The classic acceleration of the joint expressed in the desired reference frame.

Warning: Second order forwardKinematics should have been called first

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Vector3& pinocchio::getComFromCrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix).

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

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

Returns: The center of mass position of the rigid body system expressed in the world frame (vector 3).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs& pinocchio::getCoriolisMatrix	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Retrives the Coriolis Matrix $C(q,\dot{q})$ of the Lagrangian dynamics:

$\begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray}$

after a call to the dynamics derivatives.

Note: In the previous equation, $c(q, \dot{q}) = C(q, \dot{q})\dot{q}$ .

Template Parameters

JointCollection Collection of Joint types.

Parameters

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

Returns: The Coriolis matrix stored in data.C.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

MotionTpl<Scalar, Options> pinocchio::getFrameAcceleration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf = `LOCAL`
	)

inline

Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the acceleration is expressed.

Returns: The spatial acceleration of the Frame expressed in the desired reference frame.

Warning: Second order forwardKinematics should have been called first

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >

void pinocchio::getFrameAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_da
	)

Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint configuration vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint velocity vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\dot{q}$ .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\ddot{q}$ .

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >

void pinocchio::getFrameAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut5 > &	a_partial_da
	)

Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint configuration vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint velocity vector.
Matrix6xOut5	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. .
[out]	v_partial_dv	Partial derivative of the joint spatial velociy w.r.t. $\dot{q}$ .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\dot{q}$ .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\ddot{q}$ .

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

MotionTpl<Scalar, Options> pinocchio::getFrameClassicalAcceleration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf = `LOCAL`
	)

inline

Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the acceleration is expressed.

Returns: The classical acceleration of the Frame expressed in the desired reference frame.

Warning: Second order forwardKinematics should have been called first

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike >

void pinocchio::getFrameJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xLike > &	J
	)

inline

Returns the jacobian of the frame expressed either expressed in the LOCAL frame coordinate system or in the WORLD coordinate system, depending on the value of rf. You must first call pinocchio::computeJointJacobians followed by pinocchio::framesForwardKinematics to update placement values in data structure.

Remarks: Similarly to pinocchio::getJointJacobian with LOCAL or WORLD parameters, if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinates of the frame, or if rl == WORLD, it returns the Jacobian expressed of the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	J	The Jacobian of the Frame expressed in the coordinates Frame.

Warning: The function pinocchio::computeJointJacobians should have been called first.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike >

void pinocchio::getFrameJacobianTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xLike > &	dJ
	)

Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the WORLD frame (rf = WORLD) or in the LOCAL frame (rf = LOCAL) or in the LOCAL_WORLD_ALIGNED frame (rf = LOCAL_WORLD_ALIGNED).

Note: This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frameId	The index of the frame.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	dJ	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

MotionTpl<Scalar, Options> pinocchio::getFrameVelocity	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf = `LOCAL`
	)

inline

Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.

Returns: The spatial velocity of the Frame expressed in the desired reference frame.

Warning: Fist or second order forwardKinematics should have been called first

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >

void pinocchio::getFrameVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv
	)

Computes the partial derivatives of the frame velocity quantity with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. .
[out]	v_partial_dv	Partial derivative of the joint spatial velociy w.r.t. $\dot{q}$ .

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::getJacobianComFromCrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Extracts both the jacobian of the center of mass (CoM), the total mass of the system and the CoM position from the joint space inertia matrix (also called the mass matrix). The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both expressed in the world frame.

Template Parameters

JointCollection Collection of Joint types.

Parameters

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

Returns: The jacobian of the CoM expressed in the world frame (matrix 3 x model.nv).

Remarks: This extraction of inertial quantities is only valid for free-floating base systems.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >

void pinocchio::getJacobianSubtreeCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex &	rootSubtreeId,
		const Eigen::MatrixBase< Matrix3xLike > &	res
	)

inline

Retrieves the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that pinocchio::jacobianCenterOfMass has been called first with computeSubtreeComs equals to true.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	rootSubtreeId	Index of the parent joint supporting the subtree.
[out]	res	The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >

void pinocchio::getJointAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_da
	)

inline

Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint configuration vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint velocity vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	Index of the joint in model.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\dot{q}$ .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\ddot{q}$ .

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >

void pinocchio::getJointAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut5 > &	a_partial_da
	)

inline

Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the spatial velocity with respect to the joint velocity vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint configuration vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint velocity vector.
Matrix6xOut5	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	Index of the joint in model.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. .
[out]	v_partial_dv	Partial derivative of the joint spatial velociy w.r.t. $\dot{q}$ .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\dot{q}$ .
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. $\ddot{q}$ .

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6Like >

void pinocchio::getJointJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6Like > &	J
	)

inline

Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame or in the local frame (rf = LOCAL) of the joint.

Note: This jacobian is extracted from data.J. You have to run pinocchio::computeJointJacobians before calling it.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	localFrame	Expressed the Jacobian in the local frame or world frame coordinates system.
[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	The id of the joint.
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.fill(0.).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6Like >

void pinocchio::getJointJacobianTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6Like > &	dJ
	)

inline

Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint.

Note: This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	localFrame	Expressed the Jacobian in the local frame or world frame coordinates system.
[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	The id of the joint.
[out]	dJ	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::getJointKinematicHessian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	joint_id,
		const ReferenceFrame	rf,
		Tensor< Scalar, 3, Options > &	kinematic_hessian
	)

inline

Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to $ q $ , the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. The frame in which the kinematic Hessian is precised by the input argument rf.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint in model.
[in]	rf	Reference frame with respect to which the derivative of the Jacobian is expressed
[out]	kinematic_hessian	Second order derivative of the joint placement w.r.t. expressed in the frame given by rf.

Remarks: This function is also related to

See also: computeJointKinematicHessians. kinematic_hessian has to be initialized with zero when calling this function for the first time and there is no dynamic memory allocation.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

Tensor<Scalar,3,Options> pinocchio::getJointKinematicHessian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	joint_id,
		const ReferenceFrame	rf
	)

inline

Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to $ q $ , the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint in model.
[in]	rf	Reference frame with respect to which the derivative of the Jacobian is expressed.

Returns: The kinematic Hessian of the joint provided by its joint_id and expressed in the frame precised by the variable rf.

Remarks: This function is also related to

See also: computeJointKinematicHessians. This function will proceed to some dynamic memory allocation for the return type. Please refer to getJointKinematicHessian for a version without dynamic memory allocation.

Definition at line 223 of file kinematics-derivatives.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >

void pinocchio::getJointVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv
	)

inline

Computes the partial derivaties of the spatial velocity of a given with respect to the joint configuration and velocity. You must first call computForwardKinematicsDerivatives before calling this function.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives with respect to the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint velociy w.r.t. .
[out]	v_partial_dv	Partial derivative of the joint velociy w.r.t. $\dot{q}$ .

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConstraintMatrixType , typename KKTMatrixType >

void pinocchio::getKKTContactDynamicMatrixInverse	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Eigen::MatrixBase< KKTMatrixType > &	KKTMatrix_inv
	)

inline

Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix:

$\left[\begin{matrix}\mathbf{M}^{-1}-\mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & \mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1} \\ \widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & -\widehat{\mathbf{M}}^{-1}\end{matrix}\right]$

Remarks: The matrix is defined when one's call forwardDynamics/impulseDynamics. This method makes use of the matrix decompositions performed during the forwardDynamics/impulseDynamics and returns the inverse. The jacobian should be the same that the one provided to forwardDynamics/impulseDynamics. Thus forward Dynamics/impulseDynamics should have been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	J	Jacobian of the constraints.
[out]	KKTMatrix_inv	inverse of the MJtJ matrix.

int pinocchio::getOpenMPNumThreadsEnv ( )

inline

Returns the number of thread defined by the environment variable OMP_NUM_THREADS. If this variable is not defined, this simply returns the default value 1.

Definition at line 16 of file openmp.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

MotionTpl<Scalar, Options> pinocchio::getVelocity	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	jointId,
		const ReferenceFrame	rf = `LOCAL`
	)

inline

Returns the spatial velocity of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	jointId	Id of the joint
[in]	rf	Reference frame in which the velocity is expressed.

Returns: The spatial velocity of the joint expressed in the desired reference frame.

Warning: Fist or second order forwardKinematics should have been called first

template<typename Derived >

bool pinocchio::hasNaN ( const Eigen::DenseBase< Derived > & m )

inline

Definition at line 18 of file math/matrix.hpp.

template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >

bool pinocchio::hasSameIndexes	(	const JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel_generic,
		const JointModelBase< JointModelDerived > &	jmodel
	)

Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived.

Parameters

[in]	jmodel_generic	The generic joint model containing a variant.
[in]	jmodel	The other joint modelto compare with

Returns: True if the two joints have the same indexes.

template<typename Scalar , typename Vector3Like1 , typename Vector3Like2 , typename Matrix3Like >

void pinocchio::Hlog3	(	const Scalar &	theta,
		const Eigen::MatrixBase< Vector3Like1 > &	log,
		const Eigen::MatrixBase< Vector3Like2 > &	v,
		const Eigen::MatrixBase< Matrix3Like > &	vt_Hlog
	)

Definition at line 226 of file src/spatial/explog.hpp.

template<typename Matrix3Like1 , typename Vector3Like , typename Matrix3Like2 >

void pinocchio::Hlog3	(	const Eigen::MatrixBase< Matrix3Like1 > &	R,
		const Eigen::MatrixBase< Vector3Like > &	v,
		const Eigen::MatrixBase< Matrix3Like2 > &	vt_Hlog
	)

Second order derivative of log3.

This computes $v^T H_{log}$ .

Parameters

[in]	R	the rotation matrix.
[in]	v	the 3D vector.
[out]	vt_Hlog	the product of the Hessian with the input vector

Definition at line 273 of file src/spatial/explog.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

JointIndex pinocchio::id ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

inline

Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain.

Parameters

[in] jmodel The JointModelVariant

Returns: The index of the joint in the kinematic chain

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

int pinocchio::idx_q ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

inline

Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint.

Parameters

[in] jmodel The JointModelVariant

Returns: The index in the full model configuration space corresponding to the first degree of freedom of jmodel

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

int pinocchio::idx_v ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

inline

Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree.

Parameters

[in] jmodel The JointModelVariant

Returns: The index in the full model tangent space corresponding to the first joint tangent space degree

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::impulseDynamics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v_before,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Scalar	r_coeff = `0.`,
		const Scalar	inv_damping = `0.`
	)

inline

Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called.

Note: It computes the following problem:
$\begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\ % \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-} \end{eqnarray}$
where $\dot{q}^{-}$ is the generalized velocity before impact, is the joint space mass matrix, the constraint Jacobian and $\epsilon$ is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.
ConstraintMatrixType	Type of the constraint matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v_before	The joint velocity before impact (vector dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	r_coeff	The coefficient of restitution. Must be in [0;1].
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Returns: A reference to the generalized velocity after impact stored in data.dq_after. The Lagrange Multipliers linked to the contact impulsed are available throw data.impulse_c vector.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::impulseDynamics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< TangentVectorType > &	v_before,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Scalar	r_coeff = `0.`,
		const Scalar	inv_damping = `0.`
	)

inline

Compute the impulse dynamics with contact constraints, assuming pinocchio::crba has been called.

Note: It computes the following problem:
$\begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\ % \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-} \end{eqnarray}$
where $\dot{q}^{-}$ is the generalized velocity before impact, is the joint space mass matrix, the constraint Jacobian and $\epsilon$ is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.
ConstraintMatrixType	Type of the constraint matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	v_before	The joint velocity before impact (vector dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	r_coeff	The coefficient of restitution. Must be in [0;1].
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Returns: A reference to the generalized velocity after impact stored in data.dq_after. The Lagrange Multipliers linked to the contact impulsed are available throw data.impulse_c vector.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >

PINOCCHIO_DEPRECATED const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::impulseDynamics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v_before,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Scalar	r_coeff,
		const bool	updateKinematics
	)

inline

Compute the impulse dynamics with contact constraints.

Deprecated:: This function signature has been deprecated and will be removed in future releases of Pinocchio. Please change for the new signature of impulseDynamics(model,data[,q],v_before,J[,r_coeff[,inv_damping]]).

Note: It computes the following problem:
$\begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\ % \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-} \end{eqnarray}$
where $\dot{q}^{-}$ is the generalized velocity before impact, is the joint space mass matrix, the constraint Jacobian and $\epsilon$ is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.
ConstraintMatrixType	Type of the constraint matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v_before	The joint velocity before impact (vector dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	r_coeff	The coefficient of restitution. Must be in [0;1].
[in]	updateKinematics	If true, the algorithm calls first pinocchio::crba. Otherwise, it uses the current mass matrix value stored in data.

Returns: A reference to the generalized velocity after impact stored in data.dq_after. The Lagrange Multipliers linked to the contact impulsed are available throw data.impulse_c vector.

Definition at line 282 of file contact-dynamics.hpp.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType >

void pinocchio::integrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

This function corresponds to the exponential map of the joint configuration Lie Group. Its output can be interpreted as the "sum" from the Lie algebra to the joint configuration space $q \oplus v$ .

Parameters

[in]	model	Model of the kinematic tree on which the integration is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	qout	The integrated configuration (size model.nq)

Definition at line 54 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType >

void pinocchio::integrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

This function corresponds to the exponential map of the joint configuration Lie Group. Its output can be interpreted as the "sum" from the Lie algebra to the joint configuration space $q \oplus v$ .

Parameters

[in]	model	Model of the kinematic tree on which the integration is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	qout	The integrated configuration (size model.nq)

Definition at line 54 of file joint-configuration.hpp.

template<typename LieGroupCollection , class ConfigIn_t , class Tangent_t , class ConfigOut_t >

void pinocchio::integrate	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigIn_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< ConfigOut_t > &	qout
	)

inline

Visit a LieGroupVariant to call its integrate method.

Parameters

[in]	lg	the LieGroupVariant.
[in]	q	the starting configuration.
[in]	v	the tangent velocity.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix >

void pinocchio::integrateCoeffWiseJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector > &	q,
		const Eigen::MatrixBase< JacobianMatrix > &	jacobian
	)

inline

Return the Jacobian of the integrate function for the components of the config vector.

Parameters

[in]	model	Model of the kinematic tree.
[out]	jacobian	The Jacobian of the integrate operation.

This function is often required for the numerical solvers that are working on the tangent of the configuration space, instead of the configuration space itself.

Definition at line 721 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix >

void pinocchio::integrateCoeffWiseJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector > &	q,
		const Eigen::MatrixBase< JacobianMatrix > &	jacobian
	)

inline

Return the Jacobian of the integrate function for the components of the config vector.

Parameters

[in]	model	Model of the kinematic tree.
[out]	jacobian	The Jacobian of the integrate operation.

This function is often required for the numerical solvers that are working on the tangent of the configuration space, instead of the configuration space itself.

Definition at line 721 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >

void pinocchio::interpolate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Scalar &	u,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Interpolate two configurations for a given model.

Parameters

[in]	model	Model of the kinematic tree on which the interpolation is performed.
[in]	q0	Initial configuration vector (size model.nq)
[in]	q1	Final configuration vector (size model.nq)
[in]	u	u in [0;1] position along the interpolation.
[out]	qout	The interpolated configuration (q0 if u = 0, q1 if u = 1)

Definition at line 96 of file joint-configuration.hpp.

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >

void pinocchio::interpolate	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const typename ConfigL_t::Scalar &	u,
		const Eigen::MatrixBase< ConfigOut_t > &	qout
	)

inline

template<typename MatrixIn , typename MatrixOut >

void pinocchio::inverse	(	const Eigen::MatrixBase< MatrixIn > &	m_in,
		const Eigen::MatrixBase< MatrixOut > &	dest
	)

inline

Definition at line 213 of file math/matrix.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >

bool pinocchio::isEqual	(	const JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel_generic,
		const JointModelBase< JointModelDerived > &	jmodel
	)

Visit a JointModelTpl<Scalar,...> to compare it to JointModelDerived.

Parameters

[in]	jmodel_generic	The generic joint model containing a variant.
[in]	jmodel	The other joint model for the comparison.

Returns: True if the two joint models are equal.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >

bool pinocchio::isEqual	(	const JointDataTpl< Scalar, Options, JointCollectionTpl > &	jmodel_generic,
		const JointDataBase< JointDataDerived > &	jmodel
	)

Visit a JointDataTpl<Scalar,...> to compare it to another JointData.

Parameters

[in]	jdata_generic	The generic joint data containing a variant.
[in]	jdata	The other joint data for the comparison.

Returns: True if the two joints data are equal.

template<typename LieGroupCollection , class Config_t >

bool pinocchio::isNormalized	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	qin,
		const typename Config_t::Scalar &	prec = `Eigen::NumTraits< typename Config_t::Scalar >::dummy_precision()`
	)

inline

template<typename VectorLike >

bool pinocchio::isNormalized	(	const Eigen::MatrixBase< VectorLike > &	vec,
		const typename VectorLike::RealScalar &	prec = `Eigen::NumTraits< typename VectorLike::Scalar >::dummy_precision()`
	)

inline

Check whether the input vector is Normalized within the given precision.

Parameters

[in]	vec	Input vector
[in]	prec	Required precision

Returns: true if vec is normalized within the precision prec.

Definition at line 188 of file math/matrix.hpp.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

bool pinocchio::isNormalized	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Scalar &	prec = `Eigen::NumTraits< Scalar >::dummy_precision()`
	)

inline

Check whether a configuration vector is normalized within the given precision provided by prec.

Parameters

[in]	model	Model of the kinematic tree.
[in]	q	Configuration to check (size model.nq).
[in]	prec	Precision.

Returns: Whether the configuration is normalized or not, within the given precision.

Definition at line 641 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

bool pinocchio::isNormalized	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)

inline

Check whether a configuration vector is normalized within the given precision provided by prec.

Parameters

[in]	model	Model of the kinematic tree.
[in]	q	Configuration to check (size model.nq).
[in]	prec	Precision.

Returns: Whether the configuration is normalized or not, within the given precision.

Definition at line 641 of file joint-configuration.hpp.

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >

bool pinocchio::isSameConfiguration	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const typename ConfigL_t::Scalar &	prec
	)

inline

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

bool pinocchio::isSameConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q1,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q2,
		const Scalar &	prec = `Eigen::NumTraits< Scalar >::dummy_precision()`
	)

inline

Return true if the given configurations are equivalents, within the given precision.

Remarks: Two configurations can be equivalent but not equally coefficient wise (e.g two quaternions with opposite coefficients give rise to the same orientation, i.e. they are equivalent.).

Parameters

[in]	model	Model of the kinematic tree.
[in]	q1	The first configuraiton to compare.
[in]	q2	The second configuration to compare.
[in]	prec	precision of the comparison.

Returns: Whether the configurations are equivalent or not, within the given precision.

Remarks: Two configurations can be equivalent but not equally coefficient wise (e.g two quaternions with opposite coefficients give rise to the same orientation, i.e. they are equivalent.).

Parameters

[in]	model	Model of the kinematic tree.
[in]	q1	The first configuraiton to compare
[in]	q2	The second configuration to compare
[in]	prec	precision of the comparison.

Returns: Whether the configurations are equivalent or not

Definition at line 683 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

bool pinocchio::isSameConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q1,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q2,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)

inline

Return true if the given configurations are equivalents, within the given precision.

Remarks: Two configurations can be equivalent but not equally coefficient wise (e.g two quaternions with opposite coefficients give rise to the same orientation, i.e. they are equivalent.).

Parameters

[in]	model	Model of the kinematic tree.
[in]	q1	The first configuraiton to compare
[in]	q2	The second configuration to compare
[in]	prec	precision of the comparison.

Returns: Whether the configurations are equivalent or not

Definition at line 683 of file joint-configuration.hpp.

template<typename MatrixLike >

bool pinocchio::isUnitary	(	const Eigen::MatrixBase< MatrixLike > &	mat,
		const typename MatrixLike::RealScalar &	prec = `Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision()`
	)

inline

Check whether the input matrix is Unitary within the given precision.

Parameters

[in]	mat	Input matrix
[in]	prec	Required precision

Returns: true if mat is unitary within the precision prec

Definition at line 140 of file math/matrix.hpp.

template<typename MatrixLike >

bool pinocchio::isZero	(	const Eigen::MatrixBase< MatrixLike > &	m,
		const typename MatrixLike::RealScalar &	prec = `Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision()`
	)

inline

Definition at line 56 of file math/matrix.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::jacobianCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const bool	computeSubtreeComs = `true`
	)

inline

Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (.

See also: pinocchio::computeJointJacobians). And data.com[i] gives the center of mass of the subtree supported by joint i (expressed in the world frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	computeSubtreeComs	If true, the algorithm also computes the centers of mass of the subtrees, expressed in the world coordinate frame.

Returns: The jacobian of center of mass position of the rigid body system expressed in the world frame (matrix 3 x model.nv).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::jacobianCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const bool	computeSubtreeComs = `true`
	)

inline

Computes both the jacobian and the the center of mass position of a given model according to the current value stored in data. It assumes that forwardKinematics has been called first. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (.

See also: pinocchio::computeJointJacobians). And data.com[i] gives the center of mass of the subtree supported by joint i (expressed in the world frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	computeSubtreeComs	If true, the algorithm also computes the center of mass of the subtrees, expressed in the world coordinate frame.

Returns: The jacobian of center of mass position of the rigid body system expressed in the world frame (matrix 3 x model.nv).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix3xLike >

void pinocchio::jacobianSubtreeCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const JointIndex &	rootSubtreeId,
		const Eigen::MatrixBase< Matrix3xLike > &	res
	)

inline

Computes the Jacobian of the center of mass of the given subtree according to a particular joint configuration. In addition, the algorithm also computes the Jacobian of all the joints (.

See also: pinocchio::computeJointJacobians).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	rootSubtreeId	Index of the parent joint supporting the subtree.
[out]	res	The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >

void pinocchio::jacobianSubtreeCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex &	rootSubtreeId,
		const Eigen::MatrixBase< Matrix3xLike > &	res
	)

inline

Computes the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that forwardKinematics has been called first.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	rootSubtreeId	Index of the parent joint supporting the subtree.
[out]	res	The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().

template<AssignmentOperatorType op, typename Vector3Like , typename Matrix3Like >

void pinocchio::Jexp3	(	const Eigen::MatrixBase< Vector3Like > &	r,
		const Eigen::MatrixBase< Matrix3Like > &	Jexp
	)

Derivative of $\exp{r}$

$\frac{\sin{||r||}}{||r||} I_3 - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x + \frac{1}{||n||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T$

.

Definition at line 111 of file src/spatial/explog.hpp.

template<typename Vector3Like , typename Matrix3Like >

void pinocchio::Jexp3	(	const Eigen::MatrixBase< Vector3Like > &	r,
		const Eigen::MatrixBase< Matrix3Like > &	Jexp
	)

Derivative of $\exp{r}$

$\frac{\sin{||r||}}{||r||} I_3 - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x + \frac{1}{||n||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T$

.

Definition at line 174 of file src/spatial/explog.hpp.

template<AssignmentOperatorType op, typename MotionDerived , typename Matrix6Like >

void pinocchio::Jexp6	(	const MotionDense< MotionDerived > &	nu,
		const Eigen::MatrixBase< Matrix6Like > &	Jexp
	)

Derivative of exp6 Computed as the inverse of Jlog6.

Definition at line 409 of file src/spatial/explog.hpp.

template<typename MotionDerived , typename Matrix6Like >

void pinocchio::Jexp6	(	const MotionDense< MotionDerived > &	nu,
		const Eigen::MatrixBase< Matrix6Like > &	Jexp
	)

Derivative of exp6 Computed as the inverse of Jlog6.

Definition at line 499 of file src/spatial/explog.hpp.

template<typename Scalar , typename Vector3Like , typename Matrix3Like >

void pinocchio::Jlog3	(	const Scalar &	theta,
		const Eigen::MatrixBase< Vector3Like > &	log,
		const Eigen::MatrixBase< Matrix3Like > &	Jlog
	)

Derivative of log3.

Parameters

[in]	theta	the angle value.
[in]	log	the output of log3.
[out]	Jlog	the jacobian

$Jlog = \frac{\theta \sin(\theta)}{2 (1 - \cos(\theta))} I_3 + \frac{1}{2} \hat{\log} + (\frac{1}{\theta^2} - \frac{\sin(\theta)}{2\theta(1-\cos(\theta))}) \log \log^T$

Note: the inputs must be such that $\theta = ||\log||$

Definition at line 193 of file src/spatial/explog.hpp.

template<typename Matrix3Like1 , typename Matrix3Like2 >

void pinocchio::Jlog3	(	const Eigen::MatrixBase< Matrix3Like1 > &	R,
		const Eigen::MatrixBase< Matrix3Like2 > &	Jlog
	)

Derivative of log3.

Parameters

[in]	R	the rotation matrix.
[out]	Jlog	the jacobian

Equivalent to

double theta;
Vector3 log = pinocchio::log3 (R, theta);
pinocchio::Jlog3 (theta, log, Jlog);

Definition at line 214 of file src/spatial/explog.hpp.

template<typename Scalar , int Options, typename Matrix6Like >

void pinocchio::Jlog6	(	const SE3Tpl< Scalar, Options > &	M,
		const Eigen::MatrixBase< Matrix6Like > &	Jlog
	)

Derivative of log6

$\left(\begin{array}{cc} \text{Jlog3}(R) & J * \text{Jlog3}(R) \\ 0 & \text{Jlog3}(R) \\ \end{array}\right)$

where

$M = \left(\begin{array}{cc} \exp(\mathbf{r}) & \mathbf{p} \\ 0 & 1 \\ \end{array}\right)$

$\begin{eqnarray} J &=& \left.\frac{1}{2}[\mathbf{p}]_{\times} + \beta'(||r||) \frac{\mathbf{r}^T\mathbf{p}}{||r||}\mathbf{r}\mathbf{r}^T - (||r||\beta'(||r||) + 2 \beta(||r||)) \mathbf{p}\mathbf{r}^T\right.\\ &&\left. + \mathbf{r}^T\mathbf{p}\beta(||r||)I_3 + \beta(||r||)\mathbf{r}\mathbf{p}^T\right. \end{eqnarray}$

and

$\beta(x)=\left(\frac{1}{x^2} - \frac{\sin x}{2x(1-\cos x)}\right)$

.

For $(A,B) \in SE(3)^2$ , let $m_1 = log_6(A B) $ and $m_2 = log_6(A^{-1})$ . Then, we have:

$\frac{\partial m_1}{\partial A} = Jlog_6(M_1) Ad_B^{-1}$ ,
$\frac{\partial m_1}{\partial B} = Jlog_6(M_1)$ ,
$\frac{\partial m_2}{\partial A} = - Jlog_6(M_2) Ad_A$ .

Definition at line 538 of file src/spatial/explog.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

SE3Tpl<Scalar,Options> pinocchio::joint_transform ( const JointDataTpl< Scalar, Options, JointCollectionTpl > & jdata )

inline

Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint).

Parameters

[in] jdata The joint data to visit.

Returns: The joint transform corresponding to the joint derived transform (sXp)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

DataTpl<Scalar,Options,JointCollectionTpl>::BodyRegressorType& pinocchio::jointBodyRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		JointIndex	jointId
	)

inline

Computes the regressor for the dynamic parameters of a rigid body attached to a given joint, puts the result in data.bodyRegressor and returns it.

This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.

The result is such that $f = \text{jointBodyRegressor(model,data,jointId) * I.toDynamicParameters()}$ where $ f $ is the net force acting on the body, including gravity

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	The id of the joint.

Returns: The regressor of the body.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6Like >

PINOCCHIO_DEPRECATED void pinocchio::jointJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const JointIndex	jointId,
		const Eigen::MatrixBase< Matrix6Like > &	J
	)

inline

This function is now deprecated and has been renamed into computeJointJacobian. It will be removed in future releases of Pinocchio.

Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store the result in the input argument J.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	jointId	The id of the joint refering to model.joints[jointId].
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns: The Jacobian of the specific joint frame expressed in the local frame of the joint (matrix 6 x model.nv).

Remarks: The result of this function is equivalent to call first computeJointJacobians(model,data,q) and then call getJointJacobian(model,data,jointId,LOCAL,J), but forwardKinematics is not fully computed. It is worth to call jacobian if you only need a single Jacobian for a specific joint. Otherwise, for several Jacobians, it is better to call computeJointJacobians(model,data,q) followed by getJointJacobian(model,data,jointId,LOCAL,J) for each Jacobian.

Definition at line 107 of file jacobian.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

PINOCCHIO_DEPRECATED Scalar pinocchio::kineticEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const bool	update_kinematics
	)

inline

Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	update_kinematics	If true, first apply the forward kinematics on the kinematic tree.

Returns: The kinetic energy of the system in [J].

Definition at line 76 of file energy.hpp.

template<typename Matrix3Like >

Eigen::Matrix<typename Matrix3Like::Scalar,3,1,PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> pinocchio::log3	(	const Eigen::MatrixBase< Matrix3Like > &	R,
		typename Matrix3Like::Scalar &	theta
	)

Same as log3.

Parameters

[in]	R	the rotation matrix.
[out]	theta	the angle value.

Returns: The angular velocity vector associated to the rotation matrix.

Definition at line 75 of file src/spatial/explog.hpp.

template<typename Matrix3Like >

Eigen::Matrix<typename Matrix3Like::Scalar,3,1,PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> pinocchio::log3 ( const Eigen::MatrixBase< Matrix3Like > & R )

Log: SO(3)-> so(3).

Pseudo-inverse of log from $SO3 -> { v \in so3, ||v|| \le pi }$ .

Parameters

[in] R The rotation matrix.

Returns: The angular velocity vector associated to the rotation matrix.

Definition at line 96 of file src/spatial/explog.hpp.

template<typename Scalar , int Options>

MotionTpl<Scalar,Options> pinocchio::log6 ( const SE3Tpl< Scalar, Options > & M )

Log: SE3 -> se3.

Pseudo-inverse of exp from $SE3 \to { v,\omega \in \mathfrak{se}(3), ||\omega|| < 2\pi }$ .

Parameters

[in] M The rigid transformation.

Returns: The twist associated to the rigid transformation during time 1.

Definition at line 373 of file src/spatial/explog.hpp.

template<typename Matrix4Like >

MotionTpl<typename Matrix4Like::Scalar,Eigen::internal::traits<Matrix4Like>::Options> pinocchio::log6 ( const Eigen::MatrixBase< Matrix4Like > & M )

Log: SE3 -> se3.

Pseudo-inverse of exp from $SE3 \to { v,\omega \in \mathfrak{se}(3), ||\omega|| < 2\pi }$ .

Parameters

[in] M The rigid transformation represented as an homogenous matrix.

Returns: The twist associated to the rigid transformation during time 1.

Definition at line 391 of file src/spatial/explog.hpp.

AlgorithmCheckerList<ParentChecker,CRBAChecker,ABAChecker> pinocchio::makeDefaultCheckerList ( )

inline

Default checker-list, used as the default argument in Model::check().

Definition at line 15 of file default-check.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

MotionTpl<Scalar,Options> pinocchio::motion ( const JointDataTpl< Scalar, Options, JointCollectionTpl > & jdata )

inline

Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion.

Parameters

[in] jdata The joint data to visit.

Returns: The motion dense corresponding to the joint derived motion

template<typename LieGroupCollection >

std::string pinocchio::name ( const LieGroupGenericTpl< LieGroupCollection > & lg )

inline

Visit a LieGroupVariant to get the name of it.

Parameters

[in] lg the LieGroupVariant.

Returns: The Lie group name

template<typename LieGroupCollection >

Eigen::Matrix<typename LieGroupCollection::Scalar,Eigen::Dynamic,1,LieGroupCollection::Options> pinocchio::neutral ( const LieGroupGenericTpl< LieGroupCollection > & lg )

inline

Visit a LieGroupVariant to get the neutral element of it.

Parameters

[in] lg the LieGroupVariant.

Returns: The Lie group neutral element

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType >

void pinocchio::neutral	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Return the neutral configuration element related to the model configuration space.

Parameters

[in]	model	Model of the kinematic tree on which the neutral element is computed
[out]	qout	The neutral configuration element (size model.nq).
[in]	model	Model of the kinematic tree on which the neutral element is computed.
[out]	qout	The neutral configuration element (size model.nq).

Definition at line 257 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType >

void pinocchio::neutral	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Return the neutral configuration element related to the model configuration space.

Parameters

[in]	model	Model of the kinematic tree on which the neutral element is computed.
[out]	qout	The neutral configuration element (size model.nq).

Definition at line 257 of file joint-configuration.hpp.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> pinocchio::neutral ( const ModelTpl< Scalar, Options, JointCollectionTpl > & model )

inline

Return the neutral configuration element related to the model configuration space.

Parameters

[in] model Model of the kinematic tree on which the neutral element is computed.

Returns: The neutral configuration element (size model.nq).

Definition at line 991 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> pinocchio::neutral ( const ModelTpl< Scalar, Options, JointCollectionTpl > & model )

inline

Return the neutral configuration element related to the model configuration space.

Parameters

[in] model Model of the kinematic tree on which the neutral element is computed.

Returns: The neutral configuration element (size model.nq).

Definition at line 991 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::nonLinearEffects	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the bias terms $b(q,\dot{q})$ of the Lagrangian dynamics:

$\begin{eqnarray} M \ddot{q} + b(q, \dot{q}) = \tau \end{eqnarray}$

Note: This function is equivalent to pinocchio::rnea(model, data, q, v, 0).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns: The bias terms stored in data.nle.

template<typename LieGroupCollection , class Config_t >

void pinocchio::normalize	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	qout
	)

inline

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::normalize	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	qout
	)

inline

Normalize a configuration vector.

Parameters

[in]	model	Model of the kinematic tree.
[in,out]	q	Configuration to normalize (size model.nq).

Definition at line 609 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::normalize	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	qout
	)

inline

Normalize a configuration vector.

Parameters

[in]	model	Model of the kinematic tree.
[in,out]	q	Configuration to normalize (size model.nq).

Definition at line 609 of file joint-configuration.hpp.

template<typename Matrix3 >

void pinocchio::normalizeRotation ( const Eigen::MatrixBase< Matrix3 > & rot )

Orthogonormalization procedure for a rotation matrix (closed enough to SO(3)).

Parameters

[in,out] rot A 3x3 matrix to orthonormalize

Definition at line 59 of file rotation.hpp.

template<typename LieGroupCollection >

int pinocchio::nq ( const LieGroupGenericTpl< LieGroupCollection > & lg )

inline

Visit a LieGroupVariant to get the dimension of the Lie group configuration space.

Parameters

[in] lg the LieGroupVariant.

Returns: The dimension of the Lie group configuration space

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

int pinocchio::nq ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

inline

Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space.

Parameters

[in] jmodel The JointModelVariant

Returns: The dimension of joint configuration space

template<typename LieGroupCollection >

int pinocchio::nv ( const LieGroupGenericTpl< LieGroupCollection > & lg )

inline

Visit a LieGroupVariant to get the dimension of the Lie group tangent space.

Parameters

[in] lg the LieGroupVariant.

Returns: The dimension of the Lie group tangent space

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

int pinocchio::nv ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

inline

Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space.

Parameters

[in] jmodel The JointModelVariant

Returns: The dimension of joint tangent space

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >

bool pinocchio::operator!=	(	const JointDataBase< JointDataDerived > &	joint_data,
		const JointDataTpl< Scalar, Options, JointCollectionTpl > &	joint_data_generic
	)

Definition at line 283 of file joint-generic.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >

bool pinocchio::operator!=	(	const JointModelBase< JointModelDerived > &	joint_model,
		const JointModelTpl< Scalar, Options, JointCollectionTpl > &	joint_model_generic
	)

Definition at line 297 of file joint-generic.hpp.

template<typename Scalar , int Options, typename Vector6Like >

MotionRef<const Vector6Like> pinocchio::operator*	(	const ConstraintIdentityTpl< Scalar, Options > &	,
		const Eigen::MatrixBase< Vector6Like > &	v
	)

Definition at line 103 of file joint-free-flyer.hpp.

template<typename MotionDerived >

internal::RHSScalarMultiplication<MotionDerived,typename MotionDerived::Scalar>::ReturnType pinocchio::operator*	(	const typename MotionDerived::Scalar &	alpha,
		const MotionBase< MotionDerived > &	motion
	)

Definition at line 107 of file motion-base.hpp.

template<typename Scalar , int Options, typename ConstraintDerived >

MultiplicationOp<InertiaTpl<Scalar,Options>,ConstraintDerived>::ReturnType pinocchio::operator*	(	const InertiaTpl< Scalar, Options > &	Y,
		const ConstraintBase< ConstraintDerived > &	constraint
	)

.

Operation Y * S used in the CRBA algorithm for instance

Definition at line 112 of file constraint-base.hpp.

template<typename S1 , int O1, typename S2 , int O2>

InertiaTpl<S1,O1>::Matrix6 pinocchio::operator*	(	const InertiaTpl< S1, O1 > &	Y,
		const ConstraintIdentityTpl< S2, O2 > &
	)

inline

Definition at line 115 of file joint-free-flyer.hpp.

template<typename MatrixDerived , typename ConstraintDerived >

MultiplicationOp<Eigen::MatrixBase<MatrixDerived>,ConstraintDerived>::ReturnType pinocchio::operator*	(	const Eigen::MatrixBase< MatrixDerived > &	Y,
		const ConstraintBase< ConstraintDerived > &	constraint
	)

.

Operation Y_matrix * S used in the ABA algorithm for instance

Definition at line 122 of file constraint-base.hpp.

template<typename S1 , int O1, typename S2 , int O2>

Eigen::Matrix<S1,6,3,O1> pinocchio::operator*	(	const InertiaTpl< S1, O1 > &	Y,
		const ConstraintSphericalZYXTpl< S2, O2 > &	S
	)

Definition at line 183 of file joint-spherical-ZYX.hpp.

template<typename F1 >

traits<F1>::ForcePlain pinocchio::operator*	(	const typename traits< F1 >::Scalar	alpha,
		const ForceDense< F1 > &	f
	)

Basic operations specialization.

Definition at line 193 of file force-dense.hpp.

template<typename Matrix6Like , typename S2 , int O2>

const MatrixMatrixProduct< typename Eigen::internal::remove_const<typename SizeDepType<3>::ColsReturn<Matrix6Like>::ConstType>::type, typename ConstraintSphericalZYXTpl<S2,O2>::Matrix3 >::type pinocchio::operator*	(	const Eigen::MatrixBase< Matrix6Like > &	Y,
		const ConstraintSphericalZYXTpl< S2, O2 > &	S
	)

Definition at line 203 of file joint-spherical-ZYX.hpp.

template<typename M1 >

traits<M1>::MotionPlain pinocchio::operator*	(	const typename traits< M1 >::Scalar	alpha,
		const MotionDense< M1 > &	v
	)

Definition at line 234 of file motion-dense.hpp.

template<typename S1 , int O1, typename S2 , int O2>

Eigen::Matrix<S2,6,3,O2> pinocchio::operator*	(	const InertiaTpl< S1, O1 > &	Y,
		const ConstraintSphericalTpl< S2, O2 > &
	)

inline

Definition at line 300 of file joint-spherical.hpp.

template<typename M6Like , typename S2 , int O2>

SizeDepType<3>::ColsReturn<M6Like>::ConstType pinocchio::operator*	(	const Eigen::MatrixBase< M6Like > &	Y,
		const ConstraintSphericalTpl< S2, O2 > &
	)

inline

Definition at line 315 of file joint-spherical.hpp.

template<typename S1 , int O1, typename S2 , int O2>

Eigen::Matrix<S1,6,3,O1> pinocchio::operator*	(	const InertiaTpl< S1, O1 > &	Y,
		const ConstraintPlanarTpl< S2, O2 > &
	)

inline

Definition at line 345 of file joint-planar.hpp.

template<typename M6Like , typename S2 , int O2>

Eigen::Matrix<S2,6,3,O2> pinocchio::operator*	(	const Eigen::MatrixBase< M6Like > &	Y,
		const ConstraintPlanarTpl< S2, O2 > &
	)

inline

Definition at line 376 of file joint-planar.hpp.

template<typename S1 , int O1, typename S2 , int O2>

Eigen::Matrix<S2,6,3,O2> pinocchio::operator*	(	const InertiaTpl< S1, O1 > &	Y,
		const ConstraintTranslationTpl< S2, O2 > &
	)

inline

Definition at line 378 of file joint-translation.hpp.

template<typename M6Like , typename S2 , int O2>

const SizeDepType<3>::ColsReturn<M6Like>::ConstType pinocchio::operator*	(	const Eigen::MatrixBase< M6Like > &	Y,
		const ConstraintTranslationTpl< S2, O2 > &
	)

inline

Definition at line 393 of file joint-translation.hpp.

template<typename M1 , typename Scalar , int Options>

const M1& pinocchio::operator+	(	const MotionBase< M1 > &	v,
		const MotionZeroTpl< Scalar, Options > &
	)

inline

Definition at line 111 of file motion-zero.hpp.

template<typename Scalar , int Options, typename M1 >

const M1& pinocchio::operator+	(	const MotionZeroTpl< Scalar, Options > &	,
		const MotionBase< M1 > &	v
	)

inline

Definition at line 116 of file motion-zero.hpp.

template<typename Scalar , int Options, int axis, typename MotionDerived >

MotionDerived::MotionPlain pinocchio::operator+	(	const MotionPrismaticTpl< Scalar, Options, axis > &	m1,
		const MotionDense< MotionDerived > &	m2
	)

Definition at line 160 of file joint-prismatic.hpp.

template<typename Scalar , int Options, typename MotionDerived >

MotionDerived::MotionPlain pinocchio::operator+	(	const MotionPrismaticUnalignedTpl< Scalar, Options > &	m1,
		const MotionDense< MotionDerived > &	m2
	)

inline

Definition at line 168 of file joint-prismatic-unaligned.hpp.

template<typename S1 , int O1, typename MotionDerived >

MotionDerived::MotionPlain pinocchio::operator+	(	const MotionTranslationTpl< S1, O1 > &	m1,
		const MotionDense< MotionDerived > &	m2
	)

inline

Definition at line 169 of file joint-translation.hpp.

template<typename S1 , int O1, typename MotionDerived >

MotionDerived::MotionPlain pinocchio::operator+	(	const MotionSphericalTpl< S1, O1 > &	m1,
		const MotionDense< MotionDerived > &	m2
	)

inline

Definition at line 176 of file joint-spherical.hpp.

template<typename S1 , int O1, typename MotionDerived >

MotionDerived::MotionPlain pinocchio::operator+	(	const MotionRevoluteUnalignedTpl< S1, O1 > &	m1,
		const MotionDense< MotionDerived > &	m2
	)

inline

Definition at line 177 of file joint-revolute-unaligned.hpp.

template<typename Scalar , int Options, typename MotionDerived >

MotionDerived::MotionPlain pinocchio::operator+	(	const MotionPlanarTpl< Scalar, Options > &	m1,
		const MotionDense< MotionDerived > &	m2
	)

inline

Definition at line 190 of file joint-planar.hpp.

template<typename S1 , int O1, int axis, typename MotionDerived >

MotionDerived::MotionPlain pinocchio::operator+	(	const MotionRevoluteTpl< S1, O1, axis > &	m1,
		const MotionDense< MotionDerived > &	m2
	)

Definition at line 314 of file joint-revolute.hpp.

template<typename Derived >

std::ostream & pinocchio::operator<<	(	std::ostream &	os,
		const LieGroupBase< Derived > &	lg
	)

Definition at line 21 of file cartesian-product-liegroups.cpp.

template<typename LieGroupCollection >

std::ostream & pinocchio::operator<<	(	std::ostream &	os,
		const LieGroupGenericTpl< LieGroupCollection > &	lg
	)

Definition at line 26 of file cartesian-product-liegroups.cpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

std::ostream& pinocchio::operator<<	(	std::ostream &	os,
		const JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > &	jdata
	)

inline

Definition at line 130 of file joint-composite.hpp.

template<typename Scalar , int Options>

std::ostream& pinocchio::operator<<	(	std::ostream &	os,
		const FrameTpl< Scalar, Options > &	f
	)

inline

Definition at line 142 of file src/multibody/frame.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

std::ostream& pinocchio::operator<<	(	std::ostream &	os,
		const JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > &	jmodel
	)

inline

Definition at line 468 of file joint-composite.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >

bool pinocchio::operator==	(	const JointDataBase< JointDataDerived > &	joint_data,
		const JointDataTpl< Scalar, Options, JointCollectionTpl > &	joint_data_generic
	)

Definition at line 275 of file joint-generic.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >

bool pinocchio::operator==	(	const JointModelBase< JointModelDerived > &	joint_model,
		const JointModelTpl< Scalar, Options, JointCollectionTpl > &	joint_model_generic
	)

Definition at line 290 of file joint-generic.hpp.

template<typename MotionDerived , typename S2 , int O2, int axis>

EIGEN_STRONG_INLINE MotionDerived::MotionPlain pinocchio::operator^	(	const MotionDense< MotionDerived > &	m1,
		const MotionPrismaticTpl< S2, O2, axis > &	m2
	)

Definition at line 171 of file joint-prismatic.hpp.

template<typename MotionDerived , typename S2 , int O2>

MotionDerived::MotionPlain pinocchio::operator^	(	const MotionDense< MotionDerived > &	m1,
		const MotionPrismaticUnalignedTpl< S2, O2 > &	m2
	)

inline

Definition at line 176 of file joint-prismatic-unaligned.hpp.

template<typename MotionDerived , typename S2 , int O2>

MotionDerived::MotionPlain pinocchio::operator^	(	const MotionDense< MotionDerived > &	m1,
		const MotionRevoluteUnalignedTpl< S2, O2 > &	m2
	)

inline

Definition at line 187 of file joint-revolute-unaligned.hpp.

template<typename M1 , typename M2 >

traits<M1>::MotionPlain pinocchio::operator^	(	const MotionDense< M1 > &	v1,
		const MotionDense< M2 > &	v2
	)

Basic operations specialization.

Definition at line 224 of file motion-dense.hpp.

template<typename M1 , typename F1 >

traits<F1>::ForcePlain pinocchio::operator^	(	const MotionDense< M1 > &	v,
		const ForceBase< F1 > &	f
	)

Definition at line 229 of file motion-dense.hpp.

template<typename MotionDerived , typename S2 , int O2>

MotionDerived::MotionPlain pinocchio::operator^	(	const MotionDense< MotionDerived > &	m1,
		const MotionSphericalTpl< S2, O2 > &	m2
	)

inline

Definition at line 291 of file joint-spherical.hpp.

template<typename MotionDerived , typename S2 , int O2, int axis>

EIGEN_STRONG_INLINE MotionDerived::MotionPlain pinocchio::operator^	(	const MotionDense< MotionDerived > &	m1,
		const MotionRevoluteTpl< S2, O2, axis > &	m2
	)

Definition at line 325 of file joint-revolute.hpp.

template<typename MotionDerived , typename S2 , int O2>

MotionDerived::MotionPlain pinocchio::operator^	(	const MotionDense< MotionDerived > &	m1,
		const MotionPlanarTpl< S2, O2 > &	m2
	)

inline

Definition at line 337 of file joint-planar.hpp.

template<typename MotionDerived , typename S2 , int O2>

MotionDerived::MotionPlain pinocchio::operator^	(	const MotionDense< MotionDerived > &	m1,
		const MotionTranslationTpl< S2, O2 > &	m2
	)

inline

Definition at line 369 of file joint-translation.hpp.

template<typename Scalar >

const Scalar pinocchio::PI ( )

Returns the value of PI according to the template parameters Scalar.

Template Parameters

Scalar The scalar type of the return pi value

Definition at line 26 of file src/math/fwd.hpp.

typedef pinocchio::PINOCCHIO_ALIGNED_STD_VECTOR ( JointData )

typedef pinocchio::PINOCCHIO_ALIGNED_STD_VECTOR ( JointModel )

pinocchio::PINOCCHIO_DEFINE_ALGO_CHECKER ( Parent )

Simple model checker, that assert that model.parents is indeed a tree.

pinocchio::PINOCCHIO_DEFINE_ALGO_CHECKER ( CRBA )

pinocchio::PINOCCHIO_DEFINE_ALGO_CHECKER ( ABA )

pinocchio::PINOCCHIO_DEFINE_COMPARISON_OP ( equal_to_op )

pinocchio::PINOCCHIO_DEFINE_COMPARISON_OP	(	not_equal_to_op	,
		!
	)

pinocchio::PINOCCHIO_DEFINE_COMPARISON_OP ( less_than_op )

pinocchio::PINOCCHIO_DEFINE_COMPARISON_OP ( greater_than_op )

pinocchio::PINOCCHIO_DEFINE_COMPARISON_OP	(	less_than_or_equal_to_op	,
		<=
	)

pinocchio::PINOCCHIO_DEFINE_COMPARISON_OP	(	greater_than_or_equal_to_op	,
		>=
	)

template<typename Matrix3 >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE ( Matrix3 ) const

Orthogonal projection of a matrix on the SO(3) manifold.

Parameters

[in] mat A 3x3 matrix to project on SO(3).

Returns: the orthogonal projection of mat on SO(3)

Definition at line 79 of file rotation.hpp.

template<typename Vector3 , typename Matrix3x >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE ( Matrix3x ) const

inline

Applies the cross product onto the columns of M.

Parameters

[in]	v	a vector of dimension 3.
[in]	M	a 3 rows matrix.

Returns: the results of $[v]_{\times} M$ .

Definition at line 235 of file skew.hpp.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE ( ConfigVectorType ) const

inline

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)

Returns: The integrated configuration (size model.nq)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE ( ConfigVectorType ) const

inline

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)

Returns: The integrated configuration (size model.nq)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE ( ConfigVectorIn1 ) const

inline

Interpolate two configurations for a given model.

Squared distance between two configuration vectors.

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

Parameters

[in]	model	Model of the kinematic tree on which the interpolation operation is performed.
[in]	q0	Initial configuration vector (size model.nq)
[in]	q1	Final configuration vector (size model.nq)
[in]	u	u in [0;1] position along the interpolation.

Returns: The interpolated configuration (q0 if u = 0, q1 if u = 1)

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Final configuration (size model.nq)

Returns: The corresponding velocity (size model.nv)

Parameters

[in]	model	Model of the kinematic tree on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns: The corresponding squared distances for each joint (size model.njoints-1, corresponding to the number of joints)

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE ( ConfigVectorIn1 ) const

inline

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

Squared distance between two configurations.

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Finial configuration (size model.nq)

Returns: The corresponding velocity (size model.nv)

Parameters

[in]	model	Model of the kinematic tree on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns: The corresponding squared distances for each joint (size model.njoints-1, corresponding to the number of joints)

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ( (typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType) ) const

Generate a configuration vector uniformly sampled among given limits.

Remarks: Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning: If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the kinematic tree on which the uniform sampling operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).

Returns: The resulting configuration vector (size model.nq).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ( (typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType) ) const

Generate a configuration vector uniformly sampled among provided limits.

Remarks: Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning: If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the kinematic tree on which the uniform sampling operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).

Returns: The resulting configuration vector (size model.nq)

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ( (typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType) ) const

Generate a configuration vector uniformly sampled among the joint limits of the specified Model.

Remarks: Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning: If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit}, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in] model Model of the kinematic tree on which the uniform sampling operation is performed.

Returns: The resulting configuration vector (size model.nq)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ( (typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType) ) const

Generate a configuration vector uniformly sampled among the joint limits of the specified Model.

Remarks: Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning: If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit}, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in] model Model of the kinematic tree on which the uniform sampling operation is performed.

Returns: The resulting configuration vector (size model.nq).

template<typename Matrix6Like , typename S2 , int O2>

pinocchio::PINOCCHIO_EIGEN_REF_CONST_TYPE ( Matrix6Like ) const

inline

Definition at line 122 of file joint-free-flyer.hpp.

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelRevoluteUnboundedUnalignedTpl )

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelFreeFlyerTpl )

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelSphericalZYXTpl )

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelSphericalTpl )

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelPlanarTpl )

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelTranslationTpl )

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelPrismaticUnalignedTpl )

pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION ( JointModelRevoluteUnalignedTpl )

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

PINOCCHIO_DEPRECATED Scalar pinocchio::potentialEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const bool	update_kinematics
	)

inline

Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	update_kinematics	If true, first apply the forward kinematics on the kinematic tree.

Returns: The potential energy of the system expressed in [J].

Definition at line 156 of file energy.hpp.

std::string pinocchio::printVersion ( const std::string & delimiter = "." )

inline

Returns the current version of Pinocchio as a string using the following standard: PINOCCHIO_MINOR_VERSION.PINOCCHIO_MINOR_VERSION.PINOCCHIO_PATCH_VERSION.

Definition at line 21 of file src/utils/version.hpp.

template<typename LieGroupCollection , class Config_t >

void pinocchio::random	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< Config_t > &	qout
	)

inline

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >

void pinocchio::randomConfiguration	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< ConfigOut_t > &	qout
	)

inline

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >

void pinocchio::randomConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	lowerLimits,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	upperLimits,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Generate a configuration vector uniformly sampled among provided limits.

Remarks: Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning: If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample.

Parameters

[in]	model	Model of the system on which the random configuration operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).
[out]	qout	The resulting configuration vector (size model.nq).

Remarks: Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning: If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the system on which the random configuration operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).
[out]	qout	The resulting configuration vector (size model.nq).

Definition at line 224 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >

void pinocchio::randomConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	lowerLimits,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	upperLimits,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Generate a configuration vector uniformly sampled among provided limits.

Remarks: Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning: If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the system on which the random configuration operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).
[out]	qout	The resulting configuration vector (size model.nq).

Definition at line 224 of file joint-configuration.hpp.

std::string pinocchio::randomStringGenerator ( const int len )

inline

Generate a random string composed of alphanumeric symbols of a given length.

len The length of the output string.

Returns: a random string composed of alphanumeric symbols.

Definition at line 21 of file string-generator.hpp.

std::string pinocchio::retrieveResourcePath	(	const std::string &	string,
		const std::vector< std::string > &	package_dirs
	)

inline

Retrieve the path of the file whose path is given in an url-format. Currently convert from the following patterns : package:// or file://.

Parameters

[in]	string	The path given in the url-format
[in]	package_dirs	A list of packages directories where to search for files if its pattern starts with package://

Returns: The path to the file (can be a relative or absolute path)

Definition at line 61 of file utils.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::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
	)

inline

The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns: The desired joint torques stored in data.tau.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 >

void pinocchio::rnea	(	const int	num_threads,
		ModelPoolTpl< Scalar, Options, JointCollectionTpl > &	pool,
		const Eigen::MatrixBase< ConfigVectorPool > &	q,
		const Eigen::MatrixBase< TangentVectorPool1 > &	v,
		const Eigen::MatrixBase< TangentVectorPool2 > &	a,
		const Eigen::MatrixBase< TangentVectorPool3 > &	tau
	)

The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorPool	Matrix type of the joint configuration vector.
TangentVectorPool1	Matrix type of the joint velocity vector.
TangentVectorPool2	Matrix type of the joint acceleration vector.
TangentVectorPool3	Matrix type of the joint torque vector.

Parameters

[in]	pool	Pool containing model and data for parallel computations.
[in]	num_threads	Number of threads used for parallel computations.
[in]	q	The joint configuration vector (dim model.nq x batch_size).
[in]	v	The joint velocity vector (dim model.nv x batch_size).
[in]	a	The joint acceleration vector (dim model.nv x batch_size).
[out]	tau	The joint torque vector (dim model.nv x batch_size).

Definition at line 32 of file parallel/rnea.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::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
	)

inline

The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system, the desired joint accelerations and the external forces.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.
ForceDerived	Type of the external forces.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	fext	Vector of external forces expressed in the local frame of the joints (dim model.njoints)

Returns: The desired joint torques stored in data.tau.

PINOCCHIO_DLLAPI std::vector< std::string > pinocchio::rosPaths ( )

Parse the environment variable ROS_PACKAGE_PATH and extract paths.

Returns: The vector of paths extracted from the environment variable ROS_PACKAGE_PATH

Definition at line 45 of file file-explorer.cpp.

template<typename Vector3Like >

PINOCCHIO_DEPRECATED void pinocchio::setGeometryMeshScales	(	GeometryModel &	geom_model,
		const Eigen::MatrixBase< Vector3Like > &	meshScale
	)

inline

Set a mesh scaling vector to each GeometryObject contained in the the GeometryModel.

param[in] geom_model The geometry model containing the collision objects. param[in] meshScale The scale to be applied to each GeometryObject

Deprecated:: This function is now deprecated without replacement.

Definition at line 63 of file src/algorithm/geometry.hpp.

PINOCCHIO_DEPRECATED void pinocchio::setGeometryMeshScales	(	GeometryModel &	geom_model,
		const double	meshScale
	)

inline

Set an isotropic mesh scaling to each GeometryObject contained in the the GeometryModel.

param[in] geom_model The geometry model containing the collision objects. param[in] meshScale The scale, to be applied to each GeometryObject, equally in all directions

Deprecated:: This function is now deprecated without replacement.

Definition at line 79 of file src/algorithm/geometry.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

void pinocchio::setIndexes	(	JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel,
		JointIndex	id,
		int	q,
		int	v
	)

inline

Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain.

Parameters

[in]	jmodel	The JointModelVariant
[in]	id	The index of joint in the kinematic chain
[in]	q	The index in the full model configuration space corresponding to the first degree of freedom
[in]	v	The index in the full model tangent space corresponding to the first joint tangent space degree

Returns: The index of the joint in the kinematic chain

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

std::string pinocchio::shortname ( const JointModelTpl< Scalar, Options, JointCollectionTpl > & jmodel )

inline

Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model.

Parameters

jmodel The JointModelVariant we want the shortname of the type held in

template<typename Scalar >

Scalar pinocchio::sign ( const Scalar & t )

Returns the robust sign of t.

Definition at line 14 of file sign.hpp.

template<typename S1 , typename S2 , typename S3 >

void pinocchio::SINCOS	(	const S1 &	a,
		S2 *	sa,
		S3 *	ca
	)

Computes sin/cos values of a given input scalar.

Template Parameters

Scalar Type of the input/output variables

Parameters

[in]	a	The input scalar from which we evalute the sin and cos.
[out]	sa	Variable containing the sin of a.
[out]	ca	Variable containing the cos of a.

Definition at line 26 of file sincos.hpp.

template<typename Vector3 , typename Matrix3 >

void pinocchio::skew	(	const Eigen::MatrixBase< Vector3 > &	v,
		const Eigen::MatrixBase< Matrix3 > &	M
	)

inline

Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation of the cross product operator ( $[v]_{\times} x = v \times x$ )

Parameters

[in]	v	a vector of dimension 3.
[out]	M	the skew matrix representation of dimension 3x3.

Definition at line 21 of file skew.hpp.

template<typename D >

Eigen::Matrix<typename D::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(D)::Options> pinocchio::skew ( const Eigen::MatrixBase< D > & v )

inline

Computes the skew representation of a given 3D vector, i.e. the antisymmetric matrix representation of the cross product operator.

Parameters

[in] v a vector of dimension 3.

Returns: The skew matrix representation of v.

Definition at line 45 of file skew.hpp.

template<typename V1 , typename V2 , typename Matrix3 >

void pinocchio::skewSquare	(	const Eigen::MatrixBase< V1 > &	u,
		const Eigen::MatrixBase< V2 > &	v,
		const Eigen::MatrixBase< Matrix3 > &	C
	)

inline

Computes the square cross product linear operator C(u,v) such that for any vector w, $u \times ( v \times w ) = C(u,v) w$ .

Parameters

[in]	u	a 3 dimensional vector.
[in]	v	a 3 dimensional vector.
[out]	C	the skew square matrix representation of dimension 3x3.

Definition at line 166 of file skew.hpp.

template<typename V1 , typename V2 >

Eigen::Matrix<typename V1::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(V1)::Options> pinocchio::skewSquare	(	const Eigen::MatrixBase< V1 > &	u,
		const Eigen::MatrixBase< V2 > &	v
	)

inline

Computes the square cross product linear operator C(u,v) such that for any vector w, $u \times ( v \times w ) = C(u,v) w$ .

Parameters

[in]	u	A 3 dimensional vector.
[in]	v	A 3 dimensional vector.

Returns: The square cross product matrix skew[u] * skew[v].

Definition at line 192 of file skew.hpp.

template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >

ConfigL_t::Scalar pinocchio::squaredDistance	(	const LieGroupGenericTpl< LieGroupCollection > &	lg,
		const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1
	)

inline

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >

void pinocchio::squaredDistance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	out
	)

Squared distance between two configuration vectors.

Parameters

[in]	model	Model of the system on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)
[out]	out	The corresponding squared distances for each joint (size model.njoints-1 = number of joints).

Definition at line 179 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >

void pinocchio::squaredDistance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	out
	)

Squared distance between two configuration vectors.

Parameters

[in]	model	Model of the system on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)
[out]	out	The corresponding squared distances for each joint (size model.njoints-1 = number of joints).

Definition at line 179 of file joint-configuration.hpp.

template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

Scalar pinocchio::squaredDistanceSum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

inline

Overall squared distance between two configuration vectors.

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns: The squared distance between the two configurations

Overall squared distance between two configuration vectors.

Parameters

[in]	model	Model of the kinematic tree
[in]	q0	Configuration from (size model.nq)
[in]	q1	Configuration to (size model.nq)

Returns: The squared distance between the two configurations q0 and q1.

Definition at line 545 of file joint-configuration.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >

Scalar pinocchio::squaredDistanceSum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

inline

Overall squared distance between two configuration vectors, namely $|| q_{1} \ominus q_{0} ||_2^{2}$ .

Overall squared distance between two configuration vectors.

Parameters

[in]	model	Model of the kinematic tree
[in]	q0	Configuration from (size model.nq)
[in]	q1	Configuration to (size model.nq)

Returns: The squared distance between the two configurations q0 and q1.

Definition at line 545 of file joint-configuration.hpp.

hpp::fcl::Transform3f pinocchio::toFclTransform3f ( const SE3 & m )

inline

Definition at line 13 of file fcl-pinocchio-conversions.hpp.

SE3 pinocchio::toPinocchioSE3 ( const hpp::fcl::Transform3f & tf )

inline

Definition at line 18 of file fcl-pinocchio-conversions.hpp.

template<typename Vector3 , typename Scalar , typename Matrix3 >

void pinocchio::toRotationMatrix	(	const Eigen::MatrixBase< Vector3 > &	axis,
		const Scalar &	cos_value,
		const Scalar &	sin_value,
		const Eigen::MatrixBase< Matrix3 > &	res
	)

Computes a rotation matrix from a vector and values of sin and cos orientations values.

Remarks: This code is issue from Eigen::AxisAngle::toRotationMatrix

Definition at line 24 of file rotation.hpp.

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> pinocchio::u_inertia ( const JointDataTpl< Scalar, Options, JointCollectionTpl > & jdata )

inline

Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition.

Parameters

[in] jdata The joint data to visit.

Returns: The U matrix of the inertia matrix decomposition

template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>

Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> pinocchio::udinv_inertia ( const JointDataTpl< Scalar, Options, JointCollectionTpl > & jdata )

inline

Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition.

Parameters

[in] jdata The joint data to visit.

Returns: The U*D^{-1} matrix of the inertia matrix decomposition

template<typename Matrix3 , typename Vector3 >

void pinocchio::unSkew	(	const Eigen::MatrixBase< Matrix3 > &	M,
		const Eigen::MatrixBase< Vector3 > &	v
	)

inline

Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes $ v $ such that $M x = v \times x$ .

Parameters

[in]	M	a 3x3 skew symmetric matrix.
[out]	v	the 3d vector representation of M.

Definition at line 82 of file skew.hpp.

template<typename Matrix3 >

Eigen::Matrix<typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Scalar,3,1,PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Options> pinocchio::unSkew ( const Eigen::MatrixBase< Matrix3 > & M )

inline

Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes $ v $ such that $M x = v \times x$ .

Parameters

[in] M a 3x3 matrix.

Returns: The vector entries of the skew-symmetric matrix.

Definition at line 108 of file skew.hpp.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

const DataTpl<Scalar,Options,JointCollectionTpl>::SE3& pinocchio::updateFramePlacement	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id
	)

inline

Updates the placement of the given frame.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.
[in]	frame_id	Id of the operational Frame.

Returns: A reference to the frame placement stored in data.oMf[frame_id]

Warning: One of the algorithms forwardKinematics should have been called first

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::updateFramePlacements	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Updates the position of each frame contained in the model.

Template Parameters

JointCollection Collection of Joint types.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.

Warning: One of the algorithms forwardKinematics should have been called first.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

void pinocchio::updateGeometryPlacements	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

inline

Apply a forward kinematics and update the placement of the geometry objects.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	geom_model	The geometry model containing the collision objects.
[out]	geom_data	The geometry data containing the placements of the collision objects. See oMg field in GeometryData.
[in]	q	The joint configuration vector (dim model.nq).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::updateGeometryPlacements	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data
	)

inline

Update the placement of the geometry objects according to the current joint placements contained in data.

Template Parameters

JointCollection Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	geom_model	The geometry model containing the collision objects.
[out]	geom_data	The geometry data containing the placements of the collision objects. See oMg field in GeometryData.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::updateGlobalPlacements	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

inline

Update the global placement of the joints oMi according to the relative placements of the joints.

Template Parameters

JointCollection Collection of Joint types.

Parameters

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

Remarks: This algorithm may be useful to call to update global joint placement after calling pinocchio::rnea, pinocchio::aba, etc for example.

Variable Documentation

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > & pinocchio::lowerLimits

Definition at line 902 of file joint-configuration.hpp.

JointCollectionTpl & pinocchio::model

Initial value:

{

return randomConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl>(model)

pinocchio::model

JointCollectionTpl & model

Definition: joint-configuration.hpp:746

Definition at line 746 of file joint-configuration.hpp.

pinocchio::Options

Definition at line 746 of file joint-configuration.hpp.

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & pinocchio::q

Definition at line 746 of file joint-configuration.hpp.

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > & pinocchio::q0

Definition at line 784 of file joint-configuration.hpp.

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & pinocchio::q1

Initial value:

{

return difference<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model,q0.derived(),q1.derived())

pinocchio::q1

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & q1

Definition: joint-configuration.hpp:784

pinocchio::q0

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > & q0

Definition: joint-configuration.hpp:784

pinocchio::model

JointCollectionTpl & model

Definition: joint-configuration.hpp:746

Definition at line 784 of file joint-configuration.hpp.

pinocchio.submodules = inspect.getmembers(pinocchio_pywrap, inspect.ismodule)

Definition at line 16 of file bindings/python/pinocchio/__init__.py.

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > const Scalar & pinocchio::u

Initial value:

{

return interpolate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, q0.derived(), q1.derived(), u)

pinocchio::u

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > const Scalar & u

Definition: joint-configuration.hpp:784

pinocchio::q1

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & q1

Definition: joint-configuration.hpp:784

pinocchio::q0

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > & q0

Definition: joint-configuration.hpp:784

pinocchio::model

JointCollectionTpl & model

Definition: joint-configuration.hpp:746

Definition at line 784 of file joint-configuration.hpp.

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & pinocchio::upperLimits

Initial value:

{

return randomConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, lowerLimits.derived(), upperLimits.derived())

pinocchio::lowerLimits

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > & lowerLimits

Definition: joint-configuration.hpp:902

pinocchio::model

JointCollectionTpl & model

Definition: joint-configuration.hpp:746

pinocchio::upperLimits

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & upperLimits

Definition: joint-configuration.hpp:902

Definition at line 902 of file joint-configuration.hpp.

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & pinocchio::v

Initial value: