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5 #ifndef __pinocchio_algorithm_jacobian_hpp__
6 #define __pinocchio_algorithm_jacobian_hpp__
35 template<
typename,
int>
36 class JointCollectionTpl,
37 typename ConfigVectorType>
39 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
40 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
41 const Eigen::MatrixBase<ConfigVectorType> &
q);
60 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
62 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
63 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
106 template<
typename,
int>
107 class JointCollectionTpl,
108 typename Matrix6Like>
110 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
111 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
114 const Eigen::MatrixBase<Matrix6Like> &
J);
128 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
135 typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> ReturnType;
136 ReturnType
res(ReturnType::Zero(6,
model.nv));
172 template<
typename,
int>
173 class JointCollectionTpl,
174 typename ConfigVectorType,
175 typename Matrix6Like>
177 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
178 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
179 const Eigen::MatrixBase<ConfigVectorType> &
q,
181 const Eigen::MatrixBase<Matrix6Like> &
J);
202 template<
typename,
int>
203 class JointCollectionTpl,
204 typename ConfigVectorType,
205 typename TangentVectorType>
208 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
209 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
210 const Eigen::MatrixBase<ConfigVectorType> &
q,
211 const Eigen::MatrixBase<TangentVectorType> &
v);
232 template<
typename,
int>
233 class JointCollectionTpl,
234 typename Matrix6Like>
236 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
237 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
240 const Eigen::MatrixBase<Matrix6Like> & dJ);
248 #include "pinocchio/algorithm/jacobian.hxx"
250 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
251 #include "pinocchio/algorithm/jacobian.txx"
252 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
254 #endif // ifndef __pinocchio_algorithm_jacobian_hpp__
void getJointJacobianTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6Like > &dJ)
Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (r...
ReferenceFrame
Various conventions to express the velocity of a moving frame.
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 depen...
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....
void getJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed in one of the pinocchio::ReferenceFrame opt...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
void computeJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex joint_id, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store t...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sat Sep 28 2024 02:41:19