Go to the documentation of this file.
5 #ifndef __pinocchio_algorithm_centroidal_hpp__
6 #define __pinocchio_algorithm_centroidal_hpp__
29 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
31 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
32 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
55 template<
typename,
int>
56 class JointCollectionTpl,
57 typename ConfigVectorType,
58 typename TangentVectorType>
60 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
61 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
62 const Eigen::MatrixBase<ConfigVectorType> &
q,
63 const Eigen::MatrixBase<TangentVectorType> &
v);
82 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
85 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
86 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
114 template<
typename,
int>
115 class JointCollectionTpl,
116 typename ConfigVectorType,
117 typename TangentVectorType1,
118 typename TangentVectorType2>
121 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
122 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
123 const Eigen::MatrixBase<ConfigVectorType> &
q,
124 const Eigen::MatrixBase<TangentVectorType1> &
v,
125 const Eigen::MatrixBase<TangentVectorType2> &
a);
149 template<
typename,
int>
150 class JointCollectionTpl,
151 typename ConfigVectorType,
152 typename TangentVectorType>
154 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
155 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
156 const Eigen::MatrixBase<ConfigVectorType> &
q,
157 const Eigen::MatrixBase<TangentVectorType> &
v);
177 template<
typename,
int>
178 class JointCollectionTpl,
179 typename ConfigVectorType>
181 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
182 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
183 const Eigen::MatrixBase<ConfigVectorType> &
q);
210 template<
typename,
int>
211 class JointCollectionTpl,
212 typename ConfigVectorType,
213 typename TangentVectorType>
215 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
216 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
217 const Eigen::MatrixBase<ConfigVectorType> &
q,
218 const Eigen::MatrixBase<TangentVectorType> &
v);
241 template<
typename,
int>
242 class JointCollectionTpl,
243 typename ConfigVectorType,
244 typename TangentVectorType>
247 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
248 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
249 const Eigen::MatrixBase<ConfigVectorType> &
q,
250 const Eigen::MatrixBase<TangentVectorType> &
v);
255 #include "pinocchio/algorithm/centroidal.hxx"
257 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
258 #include "pinocchio/algorithm/centroidal.txx"
259 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
261 #endif // ifndef __pinocchio_algorithm_centroidal_hpp__
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...
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.
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.
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 m...
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...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
ForceTpl< Scalar, Options > Force
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
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 ...
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sat Sep 28 2024 02:41:16