algorithm/model.hpp

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//
// Copyright (c) 2019 CNRS INRIA
//
 
#ifndef __pinocchio_algorithm_model_hpp__
#define __pinocchio_algorithm_model_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"
 
namespace pinocchio
{
  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);
 
  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)
  {
    typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
    Model model;
 
    appendModel(modelA, modelB, frameInModelA, aMb, model);
 
    return model;
  }
 
  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);
 
  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);
 
  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)
  {
    typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
    Model reduced_model;
 
    buildReducedModel(model, list_of_joints_to_lock, reference_configuration, reduced_model);
 
    return reduced_model;
  }
 
  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);
 
  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);
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  void transformJointIntoMimic(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
    const JointIndex & index_mimicked,
    const JointIndex & index_mimicking,
    const Scalar & scaling,
    const Scalar & offset,
    ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  void buildMimicModel(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
    const std::vector<JointIndex> & index_mimicked,
    const std::vector<JointIndex> & index_mimicking,
    const std::vector<Scalar> & scaling,
    const std::vector<Scalar> & offset,
    ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  JointIndex findCommonAncestor(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    JointIndex joint1_id,
    JointIndex joint2_id,
    size_t & index_ancestor_in_support1,
    size_t & index_ancestor_in_support2);
 
} // namespace pinocchio
 
#include "pinocchio/algorithm/model.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/model.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_algorithm_model_hpp__