center-of-mass.cpp
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #include "pinocchio/algorithm/center-of-mass.hpp"
6 
7 namespace pinocchio
8 {
9 
10  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Scalar
11  computeTotalMass<context::Scalar, context::Options, JointCollectionDefaultTpl>(
12  const context::Model &);
13 
14  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Scalar
15  computeTotalMass<context::Scalar, context::Options, JointCollectionDefaultTpl>(
16  const context::Model &, context::Data &);
17 
18  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
19  computeSubtreeMasses<context::Scalar, context::Options, JointCollectionDefaultTpl>(
20  const context::Model &, context::Data &);
21  namespace impl
22  {
23  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Vector3 &
24  centerOfMass<
25  context::Scalar,
26  context::Options,
27  JointCollectionDefaultTpl,
28  Eigen::Ref<const context::VectorXs>>(
29  const context::Model &,
30  context::Data &,
31  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
32  const bool computeSubtreeComs);
33 
34  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Vector3 &
35  centerOfMass<
36  context::Scalar,
37  context::Options,
38  JointCollectionDefaultTpl,
39  Eigen::Ref<const context::VectorXs>,
40  Eigen::Ref<const context::VectorXs>>(
41  const context::Model &,
42  context::Data &,
43  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
44  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
45  const bool computeSubtreeComs);
46 
47  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Vector3 &
48  centerOfMass<
49  context::Scalar,
50  context::Options,
51  JointCollectionDefaultTpl,
52  Eigen::Ref<const context::VectorXs>,
53  Eigen::Ref<const context::VectorXs>,
54  Eigen::Ref<const context::VectorXs>>(
55  const context::Model &,
56  context::Data &,
57  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
58  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
59  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
60  const bool computeSubtreeComs);
61  } // namespace impl
62  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Vector3 &
63  centerOfMass<context::Scalar, context::Options, JointCollectionDefaultTpl>(
64  const context::Model &, context::Data &, KinematicLevel, const bool computeSubtreeComs);
65 
66  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Vector3 &
67  centerOfMass<context::Scalar, context::Options, JointCollectionDefaultTpl>(
68  const context::Model &, context::Data &, const bool computeSubtreeComs);
69  namespace impl
70  {
71  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Matrix3x &
72  jacobianCenterOfMass<
73  context::Scalar,
74  context::Options,
75  JointCollectionDefaultTpl,
76  Eigen::Ref<const context::VectorXs>>(
77  const context::Model &,
78  context::Data &,
79  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
80  const bool computeSubtreeComs);
81 
82  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void jacobianSubtreeCenterOfMass<
83  context::Scalar,
84  context::Options,
85  JointCollectionDefaultTpl,
86  Eigen::Ref<const context::VectorXs>,
87  Eigen::Ref<context::Matrix3x>>(
88  const context::Model &,
89  context::Data &,
90  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
91  const JointIndex &,
92  const Eigen::MatrixBase<Eigen::Ref<context::Matrix3x>> &);
93 
94  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void jacobianSubtreeCenterOfMass<
95  context::Scalar,
96  context::Options,
97  JointCollectionDefaultTpl,
98  Eigen::Ref<context::Matrix3x>>(
99  const context::Model &,
100  context::Data &,
101  const JointIndex &,
102  const Eigen::MatrixBase<Eigen::Ref<context::Matrix3x>> &);
103 
104  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getJacobianSubtreeCenterOfMass<
105  context::Scalar,
106  context::Options,
107  JointCollectionDefaultTpl,
108  Eigen::Ref<context::Matrix3x>>(
109  const context::Model &,
110  const context::Data &,
111  const JointIndex &,
112  const Eigen::MatrixBase<Eigen::Ref<context::Matrix3x>> &);
113  } // namespace impl
114  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Vector3 &
115  getComFromCrba<context::Scalar, context::Options, JointCollectionDefaultTpl>(
116  const context::Model &, context::Data &);
117 
118  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Matrix3x &
119  getJacobianComFromCrba<context::Scalar, context::Options, JointCollectionDefaultTpl>(
120  const context::Model &, context::Data &);
121 } // namespace pinocchio
pinocchio::KinematicLevel
KinematicLevel
List of Kinematics Level supported by Pinocchio.
Definition: multibody/fwd.hpp:59
Data
Model::Data Data
Definition: timings-cppad-jit.cpp:49
center-of-mass.hpp
pinocchio::jacobianCenterOfMass
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 partic...
pinocchio::getJacobianSubtreeCenterOfMass
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 stor...
pinocchio::context::Options
@ Options
Definition: context/generic.hpp:82
pinocchio::JointIndex
Index JointIndex
Definition: multibody/fwd.hpp:26
pinocchio::jacobianSubtreeCenterOfMass
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 conf...
Model
pinocchio::ModelTpl< Scalar > Model
Definition: timings-cppad-jit.cpp:48
pinocchio::context::Scalar
PINOCCHIO_SCALAR_TYPE Scalar
Definition: context/generic.hpp:79
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:33
pinocchio::centerOfMass
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....

pinocchio
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autogenerated on Wed May 28 2025 02:41:15