Namespaces
	context

	details

	helper

	internal

Classes
struct	AddressVisitor
	Add the Python method to extract the address of the underlying C++ object. More...

struct	BaumgarteCorrectorParametersPythonVisitor

struct	BoostNumberPythonVisitor

struct	BroadPhaseManagerBasePythonVisitor

struct	BroadPhaseManagerPoolPythonVisitor

struct	BroadPhaseManagerPythonVisitor

struct	call

struct	call< ForceTpl< Scalar, Options > >

struct	call< MotionTpl< Scalar, Options > >

struct	CasadiMatrixFromPython

struct	CasadiMatrixToPython

struct	CastVisitor
	Add the Python method cast. More...

struct	CollisionCallBackBaseWrapper

struct	CollisionPairPythonVisitor

struct	ComparableVisitor
	Add the Python method == and != to allow a comparison of this. More...

struct	ComparableVisitor< C, false >

struct	ContactCholeskyDecompositionPythonVisitor

struct	ContactSolverBasePythonVisitor

struct	convert_boost_python_object

struct	convert_type

struct	convert_type< void >

struct	CopyableVisitor
	Add the Python method copy to allow a copy of this by calling the copy constructor. More...

struct	CoulombFrictionConePythonVisitor

struct	DataPythonVisitor

struct	DelassusOperatorBasePythonVisitor

struct	deprecated_function

struct	deprecated_member

struct	deprecated_warning_policy

struct	DualCoulombFrictionConePythonVisitor

struct	ExposeConstructorByCastVisitor

struct	ExtractJointDataVariantTypeVisitor

struct	ExtractJointModelVariantTypeVisitor

struct	ForcePythonVisitor

struct	FramePythonVisitor

struct	GeometryDataPythonVisitor

struct	GeometryFunctorPythonVisitor

struct	GeometryModelPythonVisitor

struct	GeometryObjectPythonVisitor

struct	GeometryPoolPythonVisitor

struct	InertiaPythonVisitor

struct	JointDataBasePythonVisitor

struct	JointDataExposer

struct	JointDataPythonVisitor

struct	JointModelBasePythonVisitor

struct	JointModelCompositeAddJointVisitor

struct	JointModelCompositeConstructorVisitor

struct	JointModelExposer

struct	JointModelMimicConstructorVisitor

struct	JointModelPythonVisitor

struct	JointVariantVisitor

struct	LanczosDecompositionPythonVisitor

struct	LieGroupPythonVisitor

struct	LieGroupWrapperTpl

struct	LogCholeskyParametersPythonVisitor

struct	mimic_not_supported_function

struct	ModelPoolPythonVisitor

struct	ModelPythonVisitor

struct	MotionPythonVisitor

struct	PickleData

struct	PickleFromStringSerialization

struct	PickleMap
	Create a pickle interface for the std::map and aligned map. More...

struct	PickleVector
	Create a pickle interface for the std::vector and aligned vector. More...

struct	PrintableVisitor
	Set the Python method str and repr to use the overloading operator<<. More...

struct	ProximalSettingsPythonVisitor

struct	PseudoInertiaPythonVisitor

struct	RigidConstraintDataPythonVisitor

struct	RigidConstraintModelPythonVisitor

struct	SE3PythonVisitor

struct	SerializableVisitor

struct	StdAlignedVectorPythonVisitor
	Expose an container::aligned_vector from a type given as template argument. More...

struct	Symmetric3PythonVisitor

struct	TreeBroadPhaseManagerPythonVisitor

struct	TridiagonalSymmetricMatrixPythonVisitor

struct	VisualizerPythonVisitor

struct	XYZQUATConverter

Typedefs
typedef ContactCholeskyDecompositionTpl< context::Scalar, context::Options >	ContactCholeskyDecomposition

typedef Solver::PowerIterationAlgo	PowerIterationAlgo

typedef context::Scalar	Scalar

typedef ADMMContactSolverTpl< context::Scalar >	Solver

typedef Solver::SolverStats	SolverStats

template<class vector_type , bool NoProxy = false, bool EnableFromPythonListConverter = true, bool pickable = true>
using	StdVectorPythonVisitor = eigenpy::StdVectorPythonVisitor< vector_type, NoProxy, EnableFromPythonListConverter, pickable >

typedef Eigen::Matrix< bool, Eigen::Dynamic, 1 >	VectorXb

typedef context::VectorXs	VectorXs

Enumerations
enum	{ Options = context::Options }

Functions
template<typename BroadPhaseManager >
void	_exposeBroadphaseAlgo ()

static Eigen::MatrixXd	aba_proxy (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &tau)

static void	aba_proxy_res (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &tau, Eigen::Ref< Eigen::MatrixXd > a)

static context::JointModelComposite &	addJoint_proxy (context::JointModelComposite &joint_composite, const context::JointModel &jmodel, const context::SE3 &joint_placement=context::SE3::Identity())

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
bp::tuple	appendModel_proxy (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)

context::MatrixXs	bodyRegressor_proxy (const context::Motion &v, const context::Motion &a)

static void	buffer_copy (boost::asio::streambuf &dest, const boost::asio::streambuf &source)

GeometryModel	buildGeomFromMJCF (Model &model, const bp::object &filename, const GeometryType &type)

GeometryModel	buildGeomFromMJCF (Model &model, const bp::object &filename, const GeometryType &type, ::hpp::fcl::MeshLoaderPtr &meshLoader)

PINOCCHIO_PYTHON_PARSER_DLLAPI Model	buildModel (const std::string &filename, const std::string &var_name="model")
	Load a model from a Python script. More...

Model	buildModelFromMJCF (const bp::object &filename)

Model	buildModelFromMJCF (const bp::object &filename, const JointModel &root_joint)

bp::tuple	buildModelFromMJCF (const bp::object &filename, const JointModel &root_joint, const std::string &root_joint_name)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bp::tuple	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)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bp::tuple	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< GeometryModel, Eigen::aligned_allocator< GeometryModel >> &list_of_geom_models, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)

Model	buildSampleModelHumanoid (bool usingFF)

Model	buildSampleModelHumanoidRandom (bool usingFF, bool mimic)

Model	buildSampleModelManipulator (bool mimic)

static context::SE3::Vector3	com_0_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, bool computeSubtreeComs=true)

static context::SE3::Vector3	com_1_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, bool computeSubtreeComs=true)

static context::SE3::Vector3	com_2_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &a, bool computeSubtreeComs=true)

static const context::Data::Vector3 &	com_default_proxy (const context::Model &model, context::Data &data, bool computeSubtreeComs=true)

static const context::Data::Vector3 &	com_level_proxy (const context::Model &model, context::Data &data, KinematicLevel kinematic_level, bool computeSubtreeComs=true)

static context::Data::Matrix6x	compute_frame_jacobian_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, context::Data::FrameIndex frame_id)

static context::Data::Matrix6x	compute_frame_jacobian_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, context::Data::FrameIndex frame_id, ReferenceFrame reference_frame)

static context::Data::Matrix6x	compute_jacobian_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, JointIndex jointId)

bp::tuple	computeABADerivatives (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &tau)

bp::tuple	computeABADerivatives_fext (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &tau, const ForceAlignedVector &fext)

bp::tuple	computeABADerivatives_min (const context::Model &model, context::Data &data)

bp::tuple	computeABADerivatives_min_fext (const context::Model &model, context::Data &data, const ForceAlignedVector &fext)

static void	computeAllTerms_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v)

bp::tuple	computeCentroidalDynamicsDerivatives_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &a)

template<typename BroadPhaseManager >
VectorXb	computeCollisionsInParallel_1 (const size_t num_threads, BroadPhaseManagerPoolBase< BroadPhaseManager, double > &pool, const Eigen::MatrixBase< Eigen::MatrixXd > &q, const bool stopAtFirstCollisionInConfiguration=false, const bool stopAtFirstCollisionInBatch=false)

template<typename BroadPhaseManager >
std::vector< VectorXb >	computeCollisionsInParallel_2 (const size_t num_threads, BroadPhaseManagerPoolBase< BroadPhaseManager, double > &pool, const std::vector< Eigen::MatrixXd > &trajectories, const bool stopAtFirstCollisionInTrajectory=false)

static bool	computeCollisionsInParallel_full_proxy (const size_t num_threads, const Model &model, Data &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::VectorXd &q, const bool stopAtFirstCollision=false)

static VectorXb	computeCollisionsInParallel_pool_proxy (const int num_thread, GeometryPool &pool, const Eigen::MatrixXd &q, bool stopAtFirstCollisionInConfiguration=false, bool stopAtFirstCollisionInBatch=false)

static bool	computeCollisionsInParallel_proxy (const size_t num_threads, const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false)

static context::VectorXs	computeComplementarityShift_wrapper (const context::CoulombFrictionConeVector &cones, const context::VectorXs &velocities)

static context::VectorXs	computeConeProjection_wrapper (const context::CoulombFrictionConeVector &cones, const context::VectorXs &forces)

bp::tuple	computeConstraintDynamicsDerivatives_proxy (const context::Model &model, context::Data &data, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, const context::ProximalSettings &settings=context::ProximalSettings())

static ConstRefVectorXs	computeContactImpulses_wrapper (const ModelTpl< Scalar, Options, JointCollectionDefaultTpl > &model, DataTpl< Scalar, Options, JointCollectionDefaultTpl > &data, const ConstRefVectorXs &c_ref, const context::RigidConstraintModelVector &contact_models, context::RigidConstraintDataVector &contact_datas, const context::CoulombFrictionConeVector &cones, const ConstRefVectorXs &R, const ConstRefVectorXs &constraint_correction, ProximalSettingsTpl< Scalar > &settings, const boost::optional< ConstRefVectorXs > &lambda_guess=boost::none)

static const context::MatrixXs	computeDampedDelassusMatrixInverse_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, const context::Scalar mu, const bool scaled=false)

static const context::MatrixXs	computeDelassusMatrix_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, const context::Scalar mu=context::Scalar(0))

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
static std::size_t	computeDistances_proxy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)

static context::VectorXs	computeDualConeProjection_wrapper (const context::CoulombFrictionConeVector &cones, const context::VectorXs &velocities)

context::Data::MatrixXs	computeGeneralizedGravityDerivatives (const context::Model &model, context::Data &data, const context::VectorXs &q)

static context::MatrixXs	computeKKTContactDynamicMatrixInverse_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::MatrixXs &J, const context::Scalar mu=context::Scalar(0))

const context::Data::RowMatrixXs &	computeMinverse_min_proxy (const context::Model &model, context::Data &data)

const context::Data::RowMatrixXs &	computeMinverse_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q)

static context::Scalar	computePrimalFeasibility_wrapper (const context::CoulombFrictionConeVector &cones, const context::VectorXs &forces)

static context::Scalar	computeReprojectionError_wrapper (const context::CoulombFrictionConeVector &cones, const context::VectorXs &forces, const context::VectorXs &velocities)

bp::tuple	computeRNEADerivatives (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &a)

bp::tuple	computeRNEADerivatives_fext (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &a, const ForceAlignedVector &fext)

context::Data::MatrixXs	computeStaticTorqueDerivatives (const context::Model &model, context::Data &data, const context::VectorXs &q, const ForceAlignedVector &fext)

static const context::VectorXs	constraintDynamics_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &tau, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, context::ProximalSettings &prox_settings)

static const context::VectorXs	constraintDynamics_proxy_default (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &tau, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas)

static ConstRefVectorXs	contactInverseDynamics_wrapper (const ModelTpl< Scalar, Options, JointCollectionDefaultTpl > &model, DataTpl< Scalar, Options, JointCollectionDefaultTpl > &data, ConstRefVectorXs &q, ConstRefVectorXs &v, ConstRefVectorXs &a, Scalar dt, const context::RigidConstraintModelVector &contact_models, context::RigidConstraintDataVector &contact_datas, const context::CoulombFrictionConeVector &cones, ConstRefVectorXs &R, ConstRefVectorXs &constraint_correction, ProximalSettingsTpl< Scalar > &settings, const boost::optional< ConstRefVectorXs > &lambda_guess=boost::none)

static context::MatrixXs	crba_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const Convention convention)

context::MatrixXs	dDifference_arg_proxy (const context::Model &model, const context::VectorXs &q1, const context::VectorXs &q2, const ArgumentPosition arg)

bp::tuple	dDifference_proxy (const context::Model &model, const context::VectorXs &q1, const context::VectorXs &q2)

template<typename T >
py::object	default_arg (T t)

context::MatrixXs	dIntegrate_arg_proxy (const context::Model &model, const context::VectorXs &q, const context::VectorXs &v, const ArgumentPosition arg)

bp::tuple	dIntegrate_proxy (const context::Model &model, const context::VectorXs &q, const context::VectorXs &v)

context::MatrixXs	dIntegrateTransport_proxy (const context::Model &model, const context::VectorXs &q, const context::VectorXs &v, const context::MatrixXs &Jin, const ArgumentPosition arg)

template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	exp3_proxy (const Vector3Like &v)

template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 4, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	exp3_proxy_quat (const Vector3Like &v)

template<typename Scalar , int Options>
SE3Tpl< Scalar, Options >	exp6_proxy (const MotionTpl< Scalar, Options > &v)

template<typename Vector6Like >
SE3Tpl< typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options >	exp6_proxy (const Vector6Like &vec6)

template<typename Vector6Like >
Eigen::Matrix< typename Vector6Like::Scalar, 7, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options >	exp6_proxy_quatvec (const Vector6Like &vec6)

template<class T >
bp::class_< T > &	expose_joint_data (bp::class_< T > &cl)

template<>
bp::class_< JointDataComposite > &	expose_joint_data< JointDataComposite > (bp::class_< JointDataComposite > &cl)

template<>
bp::class_< JointDataHelicalUnaligned > &	expose_joint_data< JointDataHelicalUnaligned > (bp::class_< JointDataHelicalUnaligned > &cl)

template<>
bp::class_< JointDataPlanar > &	expose_joint_data< JointDataPlanar > (bp::class_< JointDataPlanar > &cl)

template<>
bp::class_< JointDataPrismaticUnaligned > &	expose_joint_data< JointDataPrismaticUnaligned > (bp::class_< JointDataPrismaticUnaligned > &cl)

template<>
bp::class_< JointDataRevoluteUnaligned > &	expose_joint_data< JointDataRevoluteUnaligned > (bp::class_< JointDataRevoluteUnaligned > &cl)

template<>
bp::class_< JointDataSphericalZYX > &	expose_joint_data< JointDataSphericalZYX > (bp::class_< JointDataSphericalZYX > &cl)

template<class T >
bp::class_< T > &	expose_joint_model (bp::class_< T > &cl)

template<>
bp::class_< context::JointModelComposite > &	expose_joint_model< context::JointModelComposite > (bp::class_< context::JointModelComposite > &cl)

template<>
bp::class_< context::JointModelHelicalUnaligned > &	expose_joint_model< context::JointModelHelicalUnaligned > (bp::class_< context::JointModelHelicalUnaligned > &cl)

template<>
bp::class_< context::JointModelHX > &	expose_joint_model< context::JointModelHX > (bp::class_< context::JointModelHX > &cl)

template<>
bp::class_< context::JointModelHY > &	expose_joint_model< context::JointModelHY > (bp::class_< context::JointModelHY > &cl)

template<>
bp::class_< context::JointModelHZ > &	expose_joint_model< context::JointModelHZ > (bp::class_< context::JointModelHZ > &cl)

template<>
bp::class_< context::JointModelMimic > &	expose_joint_model< context::JointModelMimic > (bp::class_< context::JointModelMimic > &cl)

template<>
bp::class_< context::JointModelPrismaticUnaligned > &	expose_joint_model< context::JointModelPrismaticUnaligned > (bp::class_< context::JointModelPrismaticUnaligned > &cl)

template<>
bp::class_< context::JointModelPX > &	expose_joint_model< context::JointModelPX > (bp::class_< context::JointModelPX > &cl)

template<>
bp::class_< context::JointModelPY > &	expose_joint_model< context::JointModelPY > (bp::class_< context::JointModelPY > &cl)

template<>
bp::class_< context::JointModelPZ > &	expose_joint_model< context::JointModelPZ > (bp::class_< context::JointModelPZ > &cl)

template<>
bp::class_< context::JointModelRevoluteUnaligned > &	expose_joint_model< context::JointModelRevoluteUnaligned > (bp::class_< context::JointModelRevoluteUnaligned > &cl)

template<>
bp::class_< context::JointModelRUBX > &	expose_joint_model< context::JointModelRUBX > (bp::class_< context::JointModelRUBX > &cl)

template<>
bp::class_< context::JointModelRUBY > &	expose_joint_model< context::JointModelRUBY > (bp::class_< context::JointModelRUBY > &cl)

template<>
bp::class_< context::JointModelRUBZ > &	expose_joint_model< context::JointModelRUBZ > (bp::class_< context::JointModelRUBZ > &cl)

template<>
bp::class_< context::JointModelRX > &	expose_joint_model< context::JointModelRX > (bp::class_< context::JointModelRX > &cl)

template<>
bp::class_< context::JointModelRY > &	expose_joint_model< context::JointModelRY > (bp::class_< context::JointModelRY > &cl)

template<>
bp::class_< context::JointModelRZ > &	expose_joint_model< context::JointModelRZ > (bp::class_< context::JointModelRZ > &cl)

template<>
bp::class_< context::JointModelUniversal > &	expose_joint_model< context::JointModelUniversal > (bp::class_< context::JointModelUniversal > &cl)

void	exposeABA ()

void	exposeABADerivatives ()

void	exposeADMMContactSolver ()

void	exposeAlgorithms ()

void	exposeBroadphase ()

template<typename BroadPhaseManager >
void	exposeBroadphaseAlgo ()

void	exposeBroadphaseCallbacks ()

template<typename BroadPhaseManager >
void	exposeCase ()

void	exposeCAT ()

void	exposeCentroidal ()

void	exposeCentroidalDerivatives ()

void	exposeCholesky ()

void	exposeClassicAcceleration ()

void	exposeCollision ()

void	exposeCOM ()

void	exposeCones ()

void	exposeConsoleBridge ()

void	exposeConstraintDynamics ()

void	exposeConstraintDynamicsDerivatives ()

void	exposeContactDynamics ()

void	exposeContactInverseDynamics ()

void	exposeContactJacobian ()

void	exposeContactSolvers ()

void	exposeConversions ()

void	exposeCRBA ()

void	exposeData ()

void	exposeDelassus ()

void	exposeDependencies ()

void	exposeEigenTypes ()

void	exposeEnergy ()

void	exposeExplog ()

void	exposeExtras ()

void	exposeFCL ()

void	exposeForce ()

void	exposeFrame ()

void	exposeFramesAlgo ()

void	exposeFramesDerivatives ()

void	exposeGeometry ()

void	exposeGeometryAlgo ()

void	exposeImpulseDynamics ()

void	exposeImpulseDynamicsDerivatives ()

void	exposeInertia ()

void	exposeJacobian ()

void	exposeJoints ()

void	exposeJointsAlgo ()

void	exposeKinematicRegressor ()

void	exposeKinematics ()

void	exposeKinematicsDerivatives ()

void	exposeLanczosDecomposition ()

void	exposeLieGroups ()

void	exposeLinalg ()

void	exposeMJCFGeom ()

void	exposeMJCFModel ()

void	exposeMJCFParser ()

void	exposeModel ()

void	exposeModelAlgo ()

void	exposeMotion ()

void	exposeParallelABA ()

void	exposeParallelAlgorithms ()

void	exposeParallelBroadPhase ()

void	exposeParallelCollision ()

void	exposeParallelGeometry ()

void	exposeParallelRNEA ()

void	exposeParsers ()

void	exposePGSContactSolver ()

void	exposePool ()

void	exposePoolCollision ()

void	exposeReachableWorkspace ()

void	exposeRegressor ()

void	exposeRNEA ()

void	exposeRNEADerivatives ()

void	exposeRpy ()

void	exposeSampleModels ()

void	exposeSDFGeometry ()

void	exposeSDFModel ()

void	exposeSDFParser ()

void	exposeSE3 ()

void	exposeSerialization ()

void	exposeSkew ()

void	exposeSpecificTypeFeatures ()

void	exposeSRDFParser ()

void	exposeSymmetric3 ()

void	exposeTridiagonalMatrix ()

void	exposeURDFGeometry ()

void	exposeURDFModel ()

void	exposeURDFParser ()

void	exposeVersion ()

template<typename T >
std::vector< T, std::allocator< T > >	extract (const boost::python::list &list)

template<typename T , class Allocator >
std::vector< T, Allocator >	extract (const boost::python::list &list)

template<typename T , class Allocator >
void	extract (const boost::python::list &list, std::vector< T, Allocator > &vec)

bp::tuple	findCommonAncestor_proxy (const context::Model &model, const JointIndex joint1_id, const JointIndex joint2_id)

static const context::VectorXs	forwardDynamics_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &tau, const context::MatrixXs &J, const context::VectorXs &gamma, const context::Scalar inv_damping=context::Scalar(0.0))

static const context::VectorXs	forwardDynamics_proxy_no_q (const context::Model &model, context::Data &data, const context::VectorXs &tau, const context::MatrixXs &J, const context::VectorXs &gamma, const context::Scalar inv_damping=context::Scalar(0.0))

static context::Data::Matrix6x	frame_jacobian_time_variation_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::Data::FrameIndex frame_id, const ReferenceFrame rf)

context::MatrixXs	frameBodyRegressor_proxy (const context::Model &model, context::Data &data, const FrameIndex frameId)

template<typename ReturnType >
ReturnType &	from (py::handle model)

static context::Data::Motion	get_frame_acceleration_proxy1 (const context::Model &model, context::Data &data, const context::Data::FrameIndex frame_id, ReferenceFrame rf=LOCAL)

static context::Data::Motion	get_frame_acceleration_proxy2 (const context::Model &model, context::Data &data, const context::Data::JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf=LOCAL)

static context::Data::Motion	get_frame_classical_acceleration_proxy1 (const context::Model &model, context::Data &data, const context::Data::FrameIndex frame_id, ReferenceFrame rf=LOCAL)

static context::Data::Motion	get_frame_classical_acceleration_proxy2 (const context::Model &model, context::Data &data, const context::Data::JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf=LOCAL)

static context::Data::Matrix6x	get_frame_jacobian_proxy1 (const context::Model &model, context::Data &data, const context::Data::FrameIndex frame_id, ReferenceFrame rf=LOCAL)

static context::Data::Matrix6x	get_frame_jacobian_proxy2 (const context::Model &model, context::Data &data, const context::Data::JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf=LOCAL)

static context::Data::Matrix6x	get_frame_jacobian_time_variation_proxy (const context::Model &model, context::Data &data, context::Data::FrameIndex jointId, ReferenceFrame rf)

static context::Data::Motion	get_frame_velocity_proxy1 (const context::Model &model, context::Data &data, const context::Data::FrameIndex frame_id, ReferenceFrame rf=LOCAL)

static context::Data::Motion	get_frame_velocity_proxy2 (const context::Model &model, context::Data &data, const context::Data::JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf=LOCAL)

static context::Data::Matrix6x	get_jacobian_proxy (const context::Model &model, context::Data &data, JointIndex jointId, ReferenceFrame rf)

static context::Data::Matrix3x	get_jacobian_subtree_com_proxy (const context::Model &model, context::Data &data, context::Model::JointIndex jointId)

static context::Data::Matrix6x	get_jacobian_time_variation_proxy (const context::Model &model, context::Data &data, JointIndex jointId, ReferenceFrame rf)

static context::Scalar	get_offset (context::JointModelMimic &jmodel)

static context::Scalar	get_scaling (context::JointModelMimic &jmodel)

bp::tuple	getCentroidalDynamicsDerivatives_proxy (const context::Model &model, context::Data &data)

context::Data::Matrix3x	getCoMVelocityDerivatives_proxy (const context::Model &model, context::Data &data)

static context::MatrixXs	getConstraintJacobian_proxy (const context::Model &model, const context::Data &data, const context::RigidConstraintModel &contact_model, context::RigidConstraintData &contact_data)

static context::MatrixXs	getConstraintsJacobian_proxy (const context::Model &model, const context::Data &data, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas)

std::string	getCurrentScopeName ()

bp::tuple	getFrameAccelerationDerivatives_proxy1 (const context::Model &model, context::Data &data, const context::Model::FrameIndex frame_id, ReferenceFrame rf)

bp::tuple	getFrameAccelerationDerivatives_proxy2 (const context::Model &model, context::Data &data, const context::Model::JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf)

bp::tuple	getFrameVelocityDerivatives_proxy1 (const context::Model &model, context::Data &data, const context::Model::FrameIndex frame_id, ReferenceFrame rf)

bp::tuple	getFrameVelocityDerivatives_proxy2 (const context::Model &model, context::Data &data, const context::Model::JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf)

bp::tuple	getJointAccelerationDerivatives_proxy (const context::Model &model, context::Data &data, const JointIndex jointId, ReferenceFrame rf)

bp::tuple	getJointVelocityDerivatives_proxy (const context::Model &model, context::Data &data, const JointIndex jointId, ReferenceFrame rf)

static const context::MatrixXs	getKKTContactDynamicMatrixInverse_proxy (const context::Model &model, context::Data &data, const context::MatrixXs &J)

boost::python::object	getOrCreatePythonNamespace (const std::string &submodule_name)
	Helper to create or simply return an existing namespace in Python. More...

bp::tuple	getPointClassicAccelerationDerivatives_proxy (const context::Model &model, context::Data &data, const JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf)

bp::tuple	getPointVelocityDerivatives_proxy (const context::Model &model, context::Data &data, const JointIndex joint_id, const context::SE3 &placement, ReferenceFrame rf)

boost::python::object	getScalarType ()

	Hlog3 (M, v, res)

static const context::VectorXs	impulseDynamics_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, const context::Scalar r_coeff, const context::ProximalSettings &prox_settings)

static const context::VectorXs	impulseDynamics_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v_before, const context::MatrixXs &J, const context::Scalar r_coeff=context::Scalar(0.), const context::Scalar inv_damping=context::Scalar(0.))

static const context::VectorXs	impulseDynamics_proxy_no_q (const context::Model &model, context::Data &data, const context::VectorXs &v_before, const context::MatrixXs &J, const context::Scalar r_coeff=context::Scalar(0.), const context::Scalar inv_damping=context::Scalar(0.))

static void	impulseDynamicsDerivatives_proxy (const context::Model &model, context::Data &data, const RigidConstraintModelVector &contact_models, RigidConstraintDataVector &contact_datas, const context::Scalar &r_coeff, const context::ProximalSettings &prox_settings)

static context::JointModelMimic *	init_proxy (const context::JointModel &jmodel, const context::Scalar &scaling, const context::Scalar &offset)

static context::JointModelComposite *	init_proxy1 (const context::JointModel &jmodel)

static context::JointModelComposite *	init_proxy2 (const context::JointModel &jmodel, const context::SE3 &joint_placement)

static context::Data::Matrix3x	jacobian_subtree_com_kinematics_proxy (const context::Model &model, context::Data &data, const context::VectorXs &q, context::Model::JointIndex jointId)

static context::Data::Matrix3x	jacobian_subtree_com_proxy (const context::Model &model, context::Data &data, context::Model::JointIndex jointId)

template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	Jexp3_proxy (const Vector3Like &v)

template<typename Scalar , int Options>
MotionTpl< Scalar, Options >::Matrix6	Jexp6_proxy (const MotionTpl< Scalar, Options > &v)

template<typename Vector6Like >
Eigen::Matrix< typename Vector6Like::Scalar, 6, 6, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options >	Jexp6_proxy (const Vector6Like &vec6)

template<typename Scalar , int Options>
SE3Tpl< Scalar, Options >::Matrix6	Jlog6_proxy (const SE3Tpl< Scalar, Options > &M)

context::MatrixXs	jointBodyRegressor_proxy (const context::Model &model, context::Data &data, const JointIndex jointId)

void	loadReferenceConfigurations (Model &model, const bp::object &filename, const bool verbose=false)

void	loadReferenceConfigurationsFromXML (Model &model, const std::string &xmlStream, const bool verbose=false)

bool	loadRotorParameters (Model &model, const bp::object &filename, const bool verbose=false)

template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options >	log3_proxy (const Matrix3Like &R)

template<typename Matrix3Like , typename Matrix1Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options >	log3_proxy (const Matrix3Like &R, Eigen::Ref< Matrix1Like > theta)

template<typename QuaternionLike >
Eigen::Matrix< typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options >	log3_proxy (const QuaternionLike &quat)

template<typename Matrix3Like , typename Scalar >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options >	log3_proxy_fix (const Matrix3Like &R, Scalar &theta)

template<typename Vector4Like >
Eigen::Matrix< typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options >	log3_proxy_quatvec (const Vector4Like &v)

template<typename Vector4Like , typename Matrix1Like >
Eigen::Matrix< typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options >	log3_proxy_quatvec (const Vector4Like &v, Eigen::Ref< Matrix1Like > theta)

template<typename Vector4Like , typename _Scalar >
Eigen::Matrix< typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options >	log3_proxy_quatvec_fix (const Vector4Like &v, _Scalar &theta)

template<typename Matrix4Like >
MotionTpl< typename Matrix4Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix4Like)::Options >	log6_proxy (const Matrix4Like &homegenous_matrix)

template<typename Vector7Like >
MotionTpl< typename Vector7Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector7Like)::Options >	log6_proxy_quatvec (const Vector7Like &q)

template<typename R , typename... Args>
internal::function_wrapper< R(*)(Args...)>	make_pybind11_function (R(*func)(Args...))
	Creates a function wrapper. More...

template<typename Matrix >
Eigen::Ref< Matrix >	make_ref (const Eigen::PlainObjectBase< Matrix > &mat)

template<typename Matrix >
void	make_symmetric (const Eigen::MatrixBase< Matrix > &mat, const int mode=Eigen::Upper)

template<typename LgType >
CartesianProductOperationVariantTpl< context::Scalar, context::Options, LieGroupCollectionDefaultTpl >	makeLieGroup ()

CartesianProductOperationVariantTpl< context::Scalar, context::Options, LieGroupCollectionDefaultTpl >	makeRn (int n)

static context::VectorXs	normalize_proxy (const context::Model &model, const context::VectorXs &config)

std::string	path (const bp::object &path)
	python pathlib.Path \| str -> C++ std::string More...

std::vector< std::string >	pathList (const bp::object &path_list)
	python typing.List[pathlib.Path] \| typing.List[str] -> C++ std::vector<std::string> More...

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (context::Force) ForceAlignedVector

template<typename Matrix >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix) make_copy(const Eigen

template<typename Matrix3Like , typename Vector3Like >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3Like) Hlog3_proxy(const Matrix3Like &M

template<typename Matrix3Like >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3Like) Jlog3_proxy(const Matrix3Like &M)

template<typename MatrixType >
	PINOCCHIO_EIGEN_PLAIN_TYPE (MatrixType) inv(const Eigen

typedef	PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR (context::RigidConstraintData) RigidConstraintDataVector

typedef	PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR (context::RigidConstraintModel) RigidConstraintModelVector

static boost::asio::streambuf &	prepare_proxy (boost::asio::streambuf &self, const std::size_t n)

static context::VectorXs	randomConfiguration_proxy (const context::Model &model)

static context::Data::MatrixXs	reachableWorkspace_ (const context::Model &model, const context::VectorXs &q0, const double time_horizon, const int frame_id, const int n_samples=5, const int facet_dims=3)

bp::tuple	reachableWorkspaceHull_ (const context::Model &model, const context::VectorXs &q0, const double time_horizon, const int frame_id, const int n_samples=5, const int facet_dims=3)

template<typename T >
bool	register_symbolic_link_to_registered_type ()

void	removeCollisionPairs (const Model &model, GeometryModel &geom_model, const bp::object &filename, const bool verbose=false)

static Eigen::MatrixXd	rnea_proxy (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &a)

static void	rnea_proxy_res (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &a, Eigen::Ref< Eigen::MatrixXd > tau)

context::Matrix3s	rotate (const std::string &axis, const context::Scalar ang)

template<typename T >
std::string	sanitizedClassname ()

template<typename T >
void	serialize ()

template<typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3::Options >	skew (const Vector3 &v)

template<typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3::Options >	skewSquare (const Vector3 &u, const Vector3 &v)

template<typename T >
py::object	to (T &t)

template<typename T >
py::object	to (T *t)

static PyObject *	tobytes (boost::asio::streambuf &self)

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl >	transformJointIntoMimic_proxy (const ModelTpl< Scalar, Options, JointCollectionTpl > &input_model, const JointIndex &index_mimicked, const JointIndex &index_mimicking, const Scalar &scaling, const Scalar &offset)

template<typename Matrix3 >
Eigen::Matrix< typename Matrix3::Scalar, 3, 1, Matrix3::Options >	unSkew (const Matrix3 &mat)

static PyObject *	view (boost::asio::streambuf &self)

Variables
const typedef Eigen::Ref< const VectorXs >	ConstRefVectorXs

ReturnType	res

const Vector3Like &	v

Typedef Documentation

◆ ContactCholeskyDecomposition

typedef ContactCholeskyDecompositionTpl<context::Scalar, context::Options> pinocchio::python::ContactCholeskyDecomposition

Definition at line 33 of file admm-solver.cpp.

◆ PowerIterationAlgo

typedef Solver::PowerIterationAlgo pinocchio::python::PowerIterationAlgo

Definition at line 27 of file admm-solver.cpp.

◆ Scalar

typedef context::Scalar pinocchio::python::Scalar

Definition at line 29 of file admm-solver.cpp.

◆ Solver

typedef PGSContactSolverTpl< context::Scalar > pinocchio::python::Solver

Definition at line 26 of file admm-solver.cpp.

◆ SolverStats

typedef Solver::SolverStats pinocchio::python::SolverStats

Definition at line 28 of file admm-solver.cpp.

◆ StdVectorPythonVisitor

template<class vector_type , bool NoProxy = false, bool EnableFromPythonListConverter = true, bool pickable = true>

using pinocchio::python::StdVectorPythonVisitor = typedef eigenpy:: StdVectorPythonVisitor<vector_type, NoProxy, EnableFromPythonListConverter, pickable>

Definition at line 47 of file std-vector.hpp.

◆ VectorXb

typedef Eigen::Matrix< bool, Eigen::Dynamic, 1 > pinocchio::python::VectorXb

Definition at line 28 of file bindings/python/collision/parallel/broadphase.cpp.

◆ VectorXs

typedef context::VectorXs pinocchio::python::VectorXs

Definition at line 30 of file admm-solver.cpp.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
Options

Definition at line 22 of file expose-contact-inverse-dynamics.cpp.

Function Documentation

◆ _exposeBroadphaseAlgo()

template<typename BroadPhaseManager >

void pinocchio::python::_exposeBroadphaseAlgo ( )

Definition at line 27 of file expose-broadphase.cpp.

◆ aba_proxy()

static Eigen::MatrixXd pinocchio::python::aba_proxy	(	const int	num_thread,
		ModelPool &	pool,
		const Eigen::MatrixXd &	q,
		const Eigen::MatrixXd &	v,
		const Eigen::MatrixXd &	tau
	)

static

Definition at line 26 of file bindings/python/algorithm/parallel/aba.cpp.

◆ aba_proxy_res()

static void pinocchio::python::aba_proxy_res	(	const int	num_thread,
		ModelPool &	pool,
		const Eigen::MatrixXd &	q,
		const Eigen::MatrixXd &	v,
		const Eigen::MatrixXd &	tau,
		Eigen::Ref< Eigen::MatrixXd >	a
	)

static

Definition at line 15 of file bindings/python/algorithm/parallel/aba.cpp.

◆ addJoint_proxy()

static context::JointModelComposite& pinocchio::python::addJoint_proxy	(	context::JointModelComposite &	joint_composite,
		const context::JointModel &	jmodel,
		const context::SE3 &	joint_placement = `context::SE3::Identity()`
	)

static

Definition at line 294 of file joints-models.hpp.

◆ appendModel_proxy()

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

bp::tuple pinocchio::python::appendModel_proxy	(	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
	)

Definition at line 17 of file algorithm/expose-model.cpp.

◆ bodyRegressor_proxy()

context::MatrixXs pinocchio::python::bodyRegressor_proxy	(	const context::Motion &	v,
		const context::Motion &	a
	)

Definition at line 15 of file expose-regressor.cpp.

◆ buffer_copy()

static void pinocchio::python::buffer_copy	(	boost::asio::streambuf &	dest,
		const boost::asio::streambuf &	source
	)

static

Definition at line 16 of file bindings/python/serialization/serialization.cpp.

◆ buildGeomFromMJCF() [1/2]

GeometryModel pinocchio::python::buildGeomFromMJCF	(	Model &	model,
		const bp::object &	filename,
		const GeometryType &	type
	)

Definition at line 19 of file bindings/python/parsers/mjcf/geometry.cpp.

◆ buildGeomFromMJCF() [2/2]

GeometryModel pinocchio::python::buildGeomFromMJCF	(	Model &	model,
		const bp::object &	filename,
		const GeometryType &	type,
		::hpp::fcl::MeshLoaderPtr &	meshLoader
	)

Definition at line 26 of file bindings/python/parsers/mjcf/geometry.cpp.

◆ buildModel()

Model pinocchio::python::buildModel	(	const std::string &	filename,
		const std::string &	var_name = `"model"`
	)

Load a model from a Python script.

This function raises a Python error in case of inconsistency in the Python code.

\input filename The full path to the model file. \input var_name Name of the Python variable which contains the model in the script.

Returns: The model constructed by the Python script.

Definition at line 23 of file src/parsers/python/model.cpp.

◆ buildModelFromMJCF() [1/3]

Model pinocchio::python::buildModelFromMJCF ( const bp::object & filename )

Definition at line 18 of file bindings/python/parsers/mjcf/model.cpp.

◆ buildModelFromMJCF() [2/3]

Model pinocchio::python::buildModelFromMJCF	(	const bp::object &	filename,
		const JointModel &	root_joint
	)

Definition at line 25 of file bindings/python/parsers/mjcf/model.cpp.

◆ buildModelFromMJCF() [3/3]

bp::tuple pinocchio::python::buildModelFromMJCF	(	const bp::object &	filename,
		const JointModel &	root_joint,
		const std::string &	root_joint_name
	)

Definition at line 32 of file bindings/python/parsers/mjcf/model.cpp.

◆ buildReducedModel() [1/2]

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

bp::tuple pinocchio::python::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
	)

Definition at line 39 of file algorithm/expose-model.cpp.

◆ buildReducedModel() [2/2]

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

bp::tuple pinocchio::python::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::vector< GeometryModel, Eigen::aligned_allocator< GeometryModel >> &	list_of_geom_models,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration
	)

Definition at line 61 of file algorithm/expose-model.cpp.

◆ buildSampleModelHumanoid()

Model pinocchio::python::buildSampleModelHumanoid ( bool usingFF )

Definition at line 38 of file bindings/python/multibody/sample-models.cpp.

◆ buildSampleModelHumanoidRandom()

Model pinocchio::python::buildSampleModelHumanoidRandom	(	bool	usingFF,
		bool	mimic
	)

Definition at line 15 of file bindings/python/multibody/sample-models.cpp.

◆ buildSampleModelManipulator()

Model pinocchio::python::buildSampleModelManipulator ( bool mimic )

Definition at line 22 of file bindings/python/multibody/sample-models.cpp.

◆ com_0_proxy()

static context::SE3::Vector3 pinocchio::python::com_0_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		bool	computeSubtreeComs = `true`
	)

static

Definition at line 17 of file expose-com.cpp.

◆ com_1_proxy()

static context::SE3::Vector3 pinocchio::python::com_1_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		bool	computeSubtreeComs = `true`
	)

static

Definition at line 26 of file expose-com.cpp.

◆ com_2_proxy()

static context::SE3::Vector3 pinocchio::python::com_2_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	a,
		bool	computeSubtreeComs = `true`
	)

static

Definition at line 36 of file expose-com.cpp.

◆ com_default_proxy()

static const context::Data::Vector3& pinocchio::python::com_default_proxy	(	const context::Model &	model,
		context::Data &	data,
		bool	computeSubtreeComs = `true`
	)

static

Definition at line 56 of file expose-com.cpp.

◆ com_level_proxy()

static const context::Data::Vector3& pinocchio::python::com_level_proxy	(	const context::Model &	model,
		context::Data &	data,
		KinematicLevel	kinematic_level,
		bool	computeSubtreeComs = `true`
	)

static

Definition at line 47 of file expose-com.cpp.

◆ compute_frame_jacobian_proxy() [1/2]

static context::Data::Matrix6x pinocchio::python::compute_frame_jacobian_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		context::Data::FrameIndex	frame_id
	)

static

Definition at line 96 of file expose-frames.cpp.

◆ compute_frame_jacobian_proxy() [2/2]

static context::Data::Matrix6x pinocchio::python::compute_frame_jacobian_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		context::Data::FrameIndex	frame_id,
		ReferenceFrame	reference_frame
	)

static

Definition at line 109 of file expose-frames.cpp.

◆ compute_jacobian_proxy()

static context::Data::Matrix6x pinocchio::python::compute_jacobian_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		JointIndex	jointId
	)

static

Definition at line 13 of file expose-jacobian.cpp.

◆ computeABADerivatives()

bp::tuple pinocchio::python::computeABADerivatives	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	tau
	)

Definition at line 21 of file expose-aba-derivatives.cpp.

◆ computeABADerivatives_fext()

bp::tuple pinocchio::python::computeABADerivatives_fext	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	tau,
		const ForceAlignedVector &	fext
	)

Definition at line 33 of file expose-aba-derivatives.cpp.

◆ computeABADerivatives_min()

bp::tuple pinocchio::python::computeABADerivatives_min	(	const context::Model &	model,
		context::Data &	data
	)

Definition at line 46 of file expose-aba-derivatives.cpp.

◆ computeABADerivatives_min_fext()

bp::tuple pinocchio::python::computeABADerivatives_min_fext	(	const context::Model &	model,
		context::Data &	data,
		const ForceAlignedVector &	fext
	)

Definition at line 53 of file expose-aba-derivatives.cpp.

◆ computeAllTerms_proxy()

static void pinocchio::python::computeAllTerms_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v
	)

static

Definition at line 13 of file expose-cat.cpp.

◆ computeCentroidalDynamicsDerivatives_proxy()

bp::tuple pinocchio::python::computeCentroidalDynamicsDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	a
	)

Definition at line 16 of file expose-centroidal-derivatives.cpp.

◆ computeCollisionsInParallel_1()

template<typename BroadPhaseManager >

VectorXb pinocchio::python::computeCollisionsInParallel_1	(	const size_t	num_threads,
		BroadPhaseManagerPoolBase< BroadPhaseManager, double > &	pool,
		const Eigen::MatrixBase< Eigen::MatrixXd > &	q,
		const bool	stopAtFirstCollisionInConfiguration = `false`,
		const bool	stopAtFirstCollisionInBatch = `false`
	)

Definition at line 31 of file bindings/python/collision/parallel/broadphase.cpp.

◆ computeCollisionsInParallel_2()

template<typename BroadPhaseManager >

std::vector<VectorXb> pinocchio::python::computeCollisionsInParallel_2	(	const size_t	num_threads,
		BroadPhaseManagerPoolBase< BroadPhaseManager, double > &	pool,
		const std::vector< Eigen::MatrixXd > &	trajectories,
		const bool	stopAtFirstCollisionInTrajectory = `false`
	)

Definition at line 46 of file bindings/python/collision/parallel/broadphase.cpp.

◆ computeCollisionsInParallel_full_proxy()

static bool pinocchio::python::computeCollisionsInParallel_full_proxy	(	const size_t	num_threads,
		const Model &	model,
		Data &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const Eigen::VectorXd &	q,
		const bool	stopAtFirstCollision = `false`
	)

static

Definition at line 29 of file bindings/python/collision/parallel/geometry.cpp.

◆ computeCollisionsInParallel_pool_proxy()

static VectorXb pinocchio::python::computeCollisionsInParallel_pool_proxy	(	const int	num_thread,
		GeometryPool &	pool,
		const Eigen::MatrixXd &	q,
		bool	stopAtFirstCollisionInConfiguration = `false`,
		bool	stopAtFirstCollisionInBatch = `false`
	)

static

Definition at line 42 of file bindings/python/collision/parallel/geometry.cpp.

◆ computeCollisionsInParallel_proxy()

static bool pinocchio::python::computeCollisionsInParallel_proxy	(	const size_t	num_threads,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const bool	stopAtFirstCollision = `false`
	)

static

Definition at line 20 of file bindings/python/collision/parallel/geometry.cpp.

◆ computeComplementarityShift_wrapper()

static context::VectorXs pinocchio::python::computeComplementarityShift_wrapper	(	const context::CoulombFrictionConeVector &	cones,
		const context::VectorXs &	velocities
	)

static

Definition at line 98 of file admm-solver.cpp.

◆ computeConeProjection_wrapper()

static context::VectorXs pinocchio::python::computeConeProjection_wrapper	(	const context::CoulombFrictionConeVector &	cones,
		const context::VectorXs &	forces
	)

static

Definition at line 68 of file admm-solver.cpp.

◆ computeConstraintDynamicsDerivatives_proxy()

bp::tuple pinocchio::python::computeConstraintDynamicsDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas,
		const context::ProximalSettings &	settings = `context::ProximalSettings()`
	)

Definition at line 23 of file expose-constrained-dynamics-derivatives.cpp.

◆ computeContactImpulses_wrapper()

static ConstRefVectorXs pinocchio::python::computeContactImpulses_wrapper	(	const ModelTpl< Scalar, Options, JointCollectionDefaultTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionDefaultTpl > &	data,
		const ConstRefVectorXs &	c_ref,
		const context::RigidConstraintModelVector &	contact_models,
		context::RigidConstraintDataVector &	contact_datas,
		const context::CoulombFrictionConeVector &	cones,
		const ConstRefVectorXs &	R,
		const ConstRefVectorXs &	constraint_correction,
		ProximalSettingsTpl< Scalar > &	settings,
		const boost::optional< ConstRefVectorXs > &	lambda_guess = `boost::none`
	)

static

Definition at line 27 of file expose-contact-inverse-dynamics.cpp.

◆ computeDampedDelassusMatrixInverse_proxy()

static const context::MatrixXs pinocchio::python::computeDampedDelassusMatrixInverse_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas,
		const context::Scalar	mu,
		const bool	scaled = `false`
	)

static

Definition at line 39 of file expose-delassus.cpp.

◆ computeDelassusMatrix_proxy()

static const context::MatrixXs pinocchio::python::computeDelassusMatrix_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas,
		const context::Scalar	mu = `context::Scalar(0)`
	)

static

Definition at line 24 of file expose-delassus.cpp.

◆ computeDistances_proxy()

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

static std::size_t pinocchio::python::computeDistances_proxy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

static

Definition at line 25 of file expose-collision.cpp.

◆ computeDualConeProjection_wrapper()

static context::VectorXs pinocchio::python::computeDualConeProjection_wrapper	(	const context::CoulombFrictionConeVector &	cones,
		const context::VectorXs &	velocities
	)

static

Definition at line 76 of file admm-solver.cpp.

◆ computeGeneralizedGravityDerivatives()

context::Data::MatrixXs pinocchio::python::computeGeneralizedGravityDerivatives	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q
	)

Definition at line 18 of file expose-rnea-derivatives.cpp.

◆ computeKKTContactDynamicMatrixInverse_proxy()

static context::MatrixXs pinocchio::python::computeKKTContactDynamicMatrixInverse_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::MatrixXs &	J,
		const context::Scalar	mu = `context::Scalar(0)`
	)

static

Definition at line 78 of file expose-contact-dynamics.cpp.

◆ computeMinverse_min_proxy()

const context::Data::RowMatrixXs& pinocchio::python::computeMinverse_min_proxy	(	const context::Model &	model,
		context::Data &	data
	)

Definition at line 26 of file expose-aba.cpp.

◆ computeMinverse_proxy()

const context::Data::RowMatrixXs& pinocchio::python::computeMinverse_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q
	)

Definition at line 17 of file expose-aba.cpp.

◆ computePrimalFeasibility_wrapper()

static context::Scalar pinocchio::python::computePrimalFeasibility_wrapper	(	const context::CoulombFrictionConeVector &	cones,
		const context::VectorXs &	forces
	)

static

Definition at line 84 of file admm-solver.cpp.

◆ computeReprojectionError_wrapper()

static context::Scalar pinocchio::python::computeReprojectionError_wrapper	(	const context::CoulombFrictionConeVector &	cones,
		const context::VectorXs &	forces,
		const context::VectorXs &	velocities
	)

static

Definition at line 90 of file admm-solver.cpp.

◆ computeRNEADerivatives()

bp::tuple pinocchio::python::computeRNEADerivatives	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	a
	)

Definition at line 39 of file expose-rnea-derivatives.cpp.

◆ computeRNEADerivatives_fext()

bp::tuple pinocchio::python::computeRNEADerivatives_fext	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	a,
		const ForceAlignedVector &	fext
	)

Definition at line 51 of file expose-rnea-derivatives.cpp.

◆ computeStaticTorqueDerivatives()

context::Data::MatrixXs pinocchio::python::computeStaticTorqueDerivatives	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const ForceAlignedVector &	fext
	)

Definition at line 27 of file expose-rnea-derivatives.cpp.

◆ constraintDynamics_proxy()

static const context::VectorXs pinocchio::python::constraintDynamics_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	tau,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas,
		context::ProximalSettings &	prox_settings
	)

static

Definition at line 28 of file expose-constrained-dynamics.cpp.

◆ constraintDynamics_proxy_default()

static const context::VectorXs pinocchio::python::constraintDynamics_proxy_default	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	tau,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas
	)

static

Definition at line 42 of file expose-constrained-dynamics.cpp.

◆ contactInverseDynamics_wrapper()

static ConstRefVectorXs pinocchio::python::contactInverseDynamics_wrapper	(	const ModelTpl< Scalar, Options, JointCollectionDefaultTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionDefaultTpl > &	data,
		ConstRefVectorXs &	q,
		ConstRefVectorXs &	v,
		ConstRefVectorXs &	a,
		Scalar	dt,
		const context::RigidConstraintModelVector &	contact_models,
		context::RigidConstraintDataVector &	contact_datas,
		const context::CoulombFrictionConeVector &	cones,
		ConstRefVectorXs &	R,
		ConstRefVectorXs &	constraint_correction,
		ProximalSettingsTpl< Scalar > &	settings,
		const boost::optional< ConstRefVectorXs > &	lambda_guess = `boost::none`
	)

static

Definition at line 44 of file expose-contact-inverse-dynamics.cpp.

◆ crba_proxy()

static context::MatrixXs pinocchio::python::crba_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const Convention	convention
	)

static

Definition at line 14 of file expose-crba.cpp.

◆ dDifference_arg_proxy()

context::MatrixXs pinocchio::python::dDifference_arg_proxy	(	const context::Model &	model,
		const context::VectorXs &	q1,
		const context::VectorXs &	q2,
		const ArgumentPosition	arg
	)

Definition at line 76 of file algorithm/expose-joints.cpp.

◆ dDifference_proxy()

bp::tuple pinocchio::python::dDifference_proxy	(	const context::Model &	model,
		const context::VectorXs &	q1,
		const context::VectorXs &	q2
	)

Definition at line 64 of file algorithm/expose-joints.cpp.

◆ default_arg()

template<typename T >

py::object pinocchio::python::default_arg ( T t )

Definition at line 193 of file pybind11.hpp.

◆ dIntegrate_arg_proxy()

context::MatrixXs pinocchio::python::dIntegrate_arg_proxy	(	const context::Model &	model,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const ArgumentPosition	arg
	)

Definition at line 38 of file algorithm/expose-joints.cpp.

◆ dIntegrate_proxy()

bp::tuple pinocchio::python::dIntegrate_proxy	(	const context::Model &	model,
		const context::VectorXs &	q,
		const context::VectorXs &	v
	)

Definition at line 26 of file algorithm/expose-joints.cpp.

◆ dIntegrateTransport_proxy()

context::MatrixXs pinocchio::python::dIntegrateTransport_proxy	(	const context::Model &	model,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::MatrixXs &	Jin,
		const ArgumentPosition	arg
	)

Definition at line 51 of file algorithm/expose-joints.cpp.

◆ exp3_proxy()

template<typename Vector3Like >

Eigen:: Matrix<typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::python::exp3_proxy ( const Vector3Like & v )

Definition at line 19 of file bindings/python/spatial/explog.hpp.

◆ exp3_proxy_quat()

template<typename Vector3Like >

Eigen:: Matrix<typename Vector3Like::Scalar, 4, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::python::exp3_proxy_quat ( const Vector3Like & v )

Definition at line 27 of file bindings/python/spatial/explog.hpp.

◆ exp6_proxy() [1/2]

template<typename Scalar , int Options>

SE3Tpl<Scalar, Options> pinocchio::python::exp6_proxy ( const MotionTpl< Scalar, Options > & v )

Definition at line 74 of file bindings/python/spatial/explog.hpp.

◆ exp6_proxy() [2/2]

template<typename Vector6Like >

SE3Tpl<typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> pinocchio::python::exp6_proxy ( const Vector6Like & vec6 )

Definition at line 81 of file bindings/python/spatial/explog.hpp.

◆ exp6_proxy_quatvec()

template<typename Vector6Like >

Eigen:: Matrix<typename Vector6Like::Scalar, 7, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> pinocchio::python::exp6_proxy_quatvec ( const Vector6Like & vec6 )

Definition at line 89 of file bindings/python/spatial/explog.hpp.

◆ expose_joint_data()

template<class T >

bp::class_<T>& pinocchio::python::expose_joint_data ( bp::class_< T > & cl )

inline

Definition at line 16 of file joints-datas.hpp.

◆ expose_joint_data< JointDataComposite >()

template<>

bp::class_<JointDataComposite>& pinocchio::python::expose_joint_data< JointDataComposite > ( bp::class_< JointDataComposite > & cl )

inline

Definition at line 64 of file joints-datas.hpp.

◆ expose_joint_data< JointDataHelicalUnaligned >()

template<>

bp::class_<JointDataHelicalUnaligned>& pinocchio::python::expose_joint_data< JointDataHelicalUnaligned > ( bp::class_< JointDataHelicalUnaligned > & cl )

inline

Definition at line 42 of file joints-datas.hpp.

◆ expose_joint_data< JointDataPlanar >()

template<>

bp::class_<JointDataPlanar>& pinocchio::python::expose_joint_data< JointDataPlanar > ( bp::class_< JointDataPlanar > & cl )

inline

Definition at line 50 of file joints-datas.hpp.

◆ expose_joint_data< JointDataPrismaticUnaligned >()

template<>

bp::class_<JointDataPrismaticUnaligned>& pinocchio::python::expose_joint_data< JointDataPrismaticUnaligned > ( bp::class_< JointDataPrismaticUnaligned > & cl )

inline

Definition at line 33 of file joints-datas.hpp.

◆ expose_joint_data< JointDataRevoluteUnaligned >()

template<>

bp::class_<JointDataRevoluteUnaligned>& pinocchio::python::expose_joint_data< JointDataRevoluteUnaligned > ( bp::class_< JointDataRevoluteUnaligned > & cl )

inline

Definition at line 24 of file joints-datas.hpp.

◆ expose_joint_data< JointDataSphericalZYX >()

template<>

bp::class_<JointDataSphericalZYX>& pinocchio::python::expose_joint_data< JointDataSphericalZYX > ( bp::class_< JointDataSphericalZYX > & cl )

inline

Definition at line 57 of file joints-datas.hpp.

◆ expose_joint_model()

template<class T >

bp::class_<T>& pinocchio::python::expose_joint_model ( bp::class_< T > & cl )

Definition at line 25 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelComposite >()

template<>

bp::class_<context::JointModelComposite>& pinocchio::python::expose_joint_model< context::JointModelComposite > ( bp::class_< context::JointModelComposite > & cl )

Definition at line 334 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelHelicalUnaligned >()

template<>

bp::class_<context::JointModelHelicalUnaligned>& pinocchio::python::expose_joint_model< context::JointModelHelicalUnaligned > ( bp::class_< context::JointModelHelicalUnaligned > & cl )

Definition at line 180 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelHX >()

template<>

bp::class_<context::JointModelHX>& pinocchio::python::expose_joint_model< context::JointModelHX > ( bp::class_< context::JointModelHX > & cl )

Definition at line 201 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelHY >()

template<>

bp::class_<context::JointModelHY>& pinocchio::python::expose_joint_model< context::JointModelHY > ( bp::class_< context::JointModelHY > & cl )

Definition at line 218 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelHZ >()

template<>

bp::class_<context::JointModelHZ>& pinocchio::python::expose_joint_model< context::JointModelHZ > ( bp::class_< context::JointModelHZ > & cl )

Definition at line 235 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelMimic >()

template<>

bp::class_<context::JointModelMimic>& pinocchio::python::expose_joint_model< context::JointModelMimic > ( bp::class_< context::JointModelMimic > & cl )

Definition at line 407 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelPrismaticUnaligned >()

template<>

bp::class_<context::JointModelPrismaticUnaligned>& pinocchio::python::expose_joint_model< context::JointModelPrismaticUnaligned > ( bp::class_< context::JointModelPrismaticUnaligned > & cl )

Definition at line 162 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelPX >()

template<>

bp::class_<context::JointModelPX>& pinocchio::python::expose_joint_model< context::JointModelPX > ( bp::class_< context::JointModelPX > & cl )

Definition at line 125 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelPY >()

template<>

bp::class_<context::JointModelPY>& pinocchio::python::expose_joint_model< context::JointModelPY > ( bp::class_< context::JointModelPY > & cl )

Definition at line 137 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelPZ >()

template<>

bp::class_<context::JointModelPZ>& pinocchio::python::expose_joint_model< context::JointModelPZ > ( bp::class_< context::JointModelPZ > & cl )

Definition at line 149 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelRevoluteUnaligned >()

template<>

bp::class_<context::JointModelRevoluteUnaligned>& pinocchio::python::expose_joint_model< context::JointModelRevoluteUnaligned > ( bp::class_< context::JointModelRevoluteUnaligned > & cl )

Definition at line 70 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelRUBX >()

template<>

bp::class_<context::JointModelRUBX>& pinocchio::python::expose_joint_model< context::JointModelRUBX > ( bp::class_< context::JointModelRUBX > & cl )

Definition at line 88 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelRUBY >()

template<>

bp::class_<context::JointModelRUBY>& pinocchio::python::expose_joint_model< context::JointModelRUBY > ( bp::class_< context::JointModelRUBY > & cl )

Definition at line 100 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelRUBZ >()

template<>

bp::class_<context::JointModelRUBZ>& pinocchio::python::expose_joint_model< context::JointModelRUBZ > ( bp::class_< context::JointModelRUBZ > & cl )

Definition at line 112 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelRX >()

template<>

bp::class_<context::JointModelRX>& pinocchio::python::expose_joint_model< context::JointModelRX > ( bp::class_< context::JointModelRX > & cl )

Definition at line 33 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelRY >()

template<>

bp::class_<context::JointModelRY>& pinocchio::python::expose_joint_model< context::JointModelRY > ( bp::class_< context::JointModelRY > & cl )

Definition at line 45 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelRZ >()

template<>

bp::class_<context::JointModelRZ>& pinocchio::python::expose_joint_model< context::JointModelRZ > ( bp::class_< context::JointModelRZ > & cl )

Definition at line 57 of file joints-models.hpp.

◆ expose_joint_model< context::JointModelUniversal >()

template<>

bp::class_<context::JointModelUniversal>& pinocchio::python::expose_joint_model< context::JointModelUniversal > ( bp::class_< context::JointModelUniversal > & cl )

Definition at line 253 of file joints-models.hpp.

◆ exposeABA()

void pinocchio::python::exposeABA ( )

Definition at line 33 of file expose-aba.cpp.

◆ exposeABADerivatives()

void pinocchio::python::exposeABADerivatives ( )

Definition at line 61 of file expose-aba-derivatives.cpp.

◆ exposeADMMContactSolver()

void pinocchio::python::exposeADMMContactSolver ( )

Definition at line 107 of file admm-solver.cpp.

◆ exposeAlgorithms()

void pinocchio::python::exposeAlgorithms ( )

Definition at line 12 of file expose-algorithms.cpp.

◆ exposeBroadphase()

void pinocchio::python::exposeBroadphase ( )

Definition at line 80 of file expose-broadphase.cpp.

◆ exposeBroadphaseAlgo()

template<typename BroadPhaseManager >

void pinocchio::python::exposeBroadphaseAlgo ( )

Definition at line 71 of file expose-broadphase.cpp.

◆ exposeBroadphaseCallbacks()

void pinocchio::python::exposeBroadphaseCallbacks ( )

Definition at line 70 of file expose-broadphase-callbacks.cpp.

◆ exposeCase()

template<typename BroadPhaseManager >

void pinocchio::python::exposeCase ( )

Definition at line 63 of file bindings/python/collision/parallel/broadphase.cpp.

◆ exposeCAT()

void pinocchio::python::exposeCAT ( )

Definition at line 25 of file expose-cat.cpp.

◆ exposeCentroidal()

void pinocchio::python::exposeCentroidal ( )

Definition at line 14 of file expose-centroidal.cpp.

◆ exposeCentroidalDerivatives()

void pinocchio::python::exposeCentroidalDerivatives ( )

Definition at line 50 of file expose-centroidal-derivatives.cpp.

◆ exposeCholesky()

void pinocchio::python::exposeCholesky ( )

Definition at line 16 of file expose-cholesky.cpp.

◆ exposeClassicAcceleration()

void pinocchio::python::exposeClassicAcceleration ( )

Definition at line 14 of file bindings/python/spatial/classic-acceleration.hpp.

◆ exposeCollision()

void pinocchio::python::exposeCollision ( )

Definition at line 35 of file expose-collision.cpp.

◆ exposeCOM()

void pinocchio::python::exposeCOM ( )

Definition at line 95 of file expose-com.cpp.

◆ exposeCones()

void pinocchio::python::exposeCones ( )

Definition at line 17 of file expose-cones.cpp.

◆ exposeConsoleBridge()

void pinocchio::python::exposeConsoleBridge ( )

Definition at line 17 of file console-bridge.cpp.

◆ exposeConstraintDynamics()

void pinocchio::python::exposeConstraintDynamics ( )

Definition at line 54 of file expose-constrained-dynamics.cpp.

◆ exposeConstraintDynamicsDerivatives()

void pinocchio::python::exposeConstraintDynamicsDerivatives ( )

Definition at line 39 of file expose-constrained-dynamics-derivatives.cpp.

◆ exposeContactDynamics()

void pinocchio::python::exposeContactDynamics ( )

Definition at line 103 of file expose-contact-dynamics.cpp.

◆ exposeContactInverseDynamics()

void pinocchio::python::exposeContactInverseDynamics ( )

Definition at line 65 of file expose-contact-inverse-dynamics.cpp.

◆ exposeContactJacobian()

void pinocchio::python::exposeContactJacobian ( )

Definition at line 48 of file expose-contact-jacobian.cpp.

◆ exposeContactSolvers()

void pinocchio::python::exposeContactSolvers ( )

Definition at line 16 of file expose-contact-solvers.cpp.

◆ exposeConversions()

void pinocchio::python::exposeConversions ( )

Definition at line 122 of file conversions.cpp.

◆ exposeCRBA()

void pinocchio::python::exposeCRBA ( )

Definition at line 26 of file expose-crba.cpp.

◆ exposeData()

void pinocchio::python::exposeData ( )

Definition at line 13 of file expose-data.cpp.

◆ exposeDelassus()

void pinocchio::python::exposeDelassus ( )

Definition at line 56 of file expose-delassus.cpp.

◆ exposeDependencies()

void pinocchio::python::exposeDependencies ( )

Definition at line 14 of file dependencies.cpp.

◆ exposeEigenTypes()

void pinocchio::python::exposeEigenTypes ( )

Definition at line 55 of file expose-eigen-types.cpp.

◆ exposeEnergy()

void pinocchio::python::exposeEnergy ( )

Definition at line 15 of file expose-energy.cpp.

◆ exposeExplog()

void pinocchio::python::exposeExplog ( )

Definition at line 17 of file expose-explog.cpp.

◆ exposeExtras()

void pinocchio::python::exposeExtras ( )

Definition at line 12 of file expose-extras.cpp.

◆ exposeFCL()

void pinocchio::python::exposeFCL ( )

Definition at line 19 of file expose-fcl.cpp.

◆ exposeForce()

void pinocchio::python::exposeForce ( )

Definition at line 18 of file expose-force.cpp.

◆ exposeFrame()

void pinocchio::python::exposeFrame ( )

Definition at line 18 of file expose-frame.cpp.

◆ exposeFramesAlgo()

void pinocchio::python::exposeFramesAlgo ( )

Definition at line 150 of file expose-frames.cpp.

◆ exposeFramesDerivatives()

void pinocchio::python::exposeFramesDerivatives ( )

Definition at line 91 of file expose-frames-derivatives.cpp.

◆ exposeGeometry()

void pinocchio::python::exposeGeometry ( )

Definition at line 16 of file multibody/expose-geometry.cpp.

◆ exposeGeometryAlgo()

void pinocchio::python::exposeGeometryAlgo ( )

Definition at line 13 of file algorithm/expose-geometry.cpp.

◆ exposeImpulseDynamics()

void pinocchio::python::exposeImpulseDynamics ( )

Definition at line 39 of file expose-impulse-dynamics.cpp.

◆ exposeImpulseDynamicsDerivatives()

void pinocchio::python::exposeImpulseDynamicsDerivatives ( )

Definition at line 36 of file expose-impulse-dynamics-derivatives.cpp.

◆ exposeInertia()

void pinocchio::python::exposeInertia ( )

Definition at line 18 of file expose-inertia.cpp.

◆ exposeJacobian()

void pinocchio::python::exposeJacobian ( )

Definition at line 46 of file expose-jacobian.cpp.

◆ exposeJoints()

void pinocchio::python::exposeJoints ( )

Definition at line 18 of file multibody/joint/expose-joints.cpp.

◆ exposeJointsAlgo()

void pinocchio::python::exposeJointsAlgo ( )

Definition at line 89 of file algorithm/expose-joints.cpp.

◆ exposeKinematicRegressor()

void pinocchio::python::exposeKinematicRegressor ( )

Definition at line 14 of file expose-kinematic-regressor.cpp.

◆ exposeKinematics()

void pinocchio::python::exposeKinematics ( )

Definition at line 13 of file expose-kinematics.cpp.

◆ exposeKinematicsDerivatives()

void pinocchio::python::exposeKinematicsDerivatives ( )

Definition at line 100 of file expose-kinematics-derivatives.cpp.

◆ exposeLanczosDecomposition()

void pinocchio::python::exposeLanczosDecomposition ( )

Definition at line 14 of file expose-lanczos-decomposition.cpp.

◆ exposeLieGroups()

void pinocchio::python::exposeLieGroups ( )

Definition at line 41 of file expose-liegroups.cpp.

◆ exposeLinalg()

void pinocchio::python::exposeLinalg ( )

Definition at line 25 of file expose-linalg.cpp.

◆ exposeMJCFGeom()

void pinocchio::python::exposeMJCFGeom ( )

Definition at line 37 of file bindings/python/parsers/mjcf/geometry.cpp.

◆ exposeMJCFModel()

void pinocchio::python::exposeMJCFModel ( )

Definition at line 44 of file bindings/python/parsers/mjcf/model.cpp.

◆ exposeMJCFParser()

void pinocchio::python::exposeMJCFParser ( )

inline

Definition at line 15 of file bindings/python/parsers/mjcf.hpp.

◆ exposeModel()

void pinocchio::python::exposeModel ( )

Definition at line 13 of file multibody/expose-model.cpp.

◆ exposeModelAlgo()

void pinocchio::python::exposeModelAlgo ( )

Definition at line 102 of file algorithm/expose-model.cpp.

◆ exposeMotion()

void pinocchio::python::exposeMotion ( )

Definition at line 19 of file expose-motion.cpp.

◆ exposeParallelABA()

void pinocchio::python::exposeParallelABA ( )

Definition at line 38 of file bindings/python/algorithm/parallel/aba.cpp.

◆ exposeParallelAlgorithms()

void pinocchio::python::exposeParallelAlgorithms ( )

Definition at line 17 of file algorithm/parallel/expose-parallel.cpp.

◆ exposeParallelBroadPhase()

void pinocchio::python::exposeParallelBroadPhase ( )

Definition at line 94 of file bindings/python/collision/parallel/broadphase.cpp.

◆ exposeParallelCollision()

void pinocchio::python::exposeParallelCollision ( )

Definition at line 17 of file collision/parallel/expose-parallel.cpp.

◆ exposeParallelGeometry()

void pinocchio::python::exposeParallelGeometry ( )

Definition at line 55 of file bindings/python/collision/parallel/geometry.cpp.

◆ exposeParallelRNEA()

void pinocchio::python::exposeParallelRNEA ( )

Definition at line 38 of file bindings/python/algorithm/parallel/rnea.cpp.

◆ exposeParsers()

void pinocchio::python::exposeParsers ( )

Definition at line 15 of file expose-parsers.cpp.

◆ exposePGSContactSolver()

void pinocchio::python::exposePGSContactSolver ( )

Definition at line 34 of file pgs-solver.cpp.

◆ exposePool()

void pinocchio::python::exposePool ( )

Definition at line 13 of file multibody/pool/expose-pool.cpp.

◆ exposePoolCollision()

void pinocchio::python::exposePoolCollision ( )

Definition at line 25 of file collision/pool/expose-pool.cpp.

◆ exposeReachableWorkspace()

void pinocchio::python::exposeReachableWorkspace ( )

Definition at line 95 of file expose-reachable-workspace.cpp.

◆ exposeRegressor()

void pinocchio::python::exposeRegressor ( )

Definition at line 32 of file expose-regressor.cpp.

◆ exposeRNEA()

void pinocchio::python::exposeRNEA ( )

Definition at line 13 of file expose-rnea.cpp.

◆ exposeRNEADerivatives()

void pinocchio::python::exposeRNEADerivatives ( )

Definition at line 64 of file expose-rnea-derivatives.cpp.

◆ exposeRpy()

void pinocchio::python::exposeRpy ( )

Definition at line 41 of file expose-rpy.cpp.

◆ exposeSampleModels()

void pinocchio::python::exposeSampleModels ( )

Definition at line 54 of file bindings/python/multibody/sample-models.cpp.

◆ exposeSDFGeometry()

void pinocchio::python::exposeSDFGeometry ( )

Definition at line 175 of file bindings/python/parsers/sdf/geometry.cpp.

◆ exposeSDFModel()

void pinocchio::python::exposeSDFModel ( )

Definition at line 63 of file bindings/python/parsers/sdf/model.cpp.

◆ exposeSDFParser()

void pinocchio::python::exposeSDFParser ( )

inline

Definition at line 15 of file bindings/python/parsers/sdf.hpp.

◆ exposeSE3()

void pinocchio::python::exposeSE3 ( )

Definition at line 18 of file expose-SE3.cpp.

◆ exposeSerialization()

void pinocchio::python::exposeSerialization ( )

Definition at line 43 of file bindings/python/serialization/serialization.cpp.

◆ exposeSkew()

void pinocchio::python::exposeSkew ( )

Definition at line 41 of file expose-skew.cpp.

◆ exposeSpecificTypeFeatures()

void pinocchio::python::exposeSpecificTypeFeatures ( )

inline

Definition at line 14 of file boost_number.cpp.

◆ exposeSRDFParser()

void pinocchio::python::exposeSRDFParser ( )

Definition at line 45 of file bindings/python/parsers/srdf.cpp.

◆ exposeSymmetric3()

void pinocchio::python::exposeSymmetric3 ( )

Definition at line 18 of file expose-symmetric3.cpp.

◆ exposeTridiagonalMatrix()

void pinocchio::python::exposeTridiagonalMatrix ( )

Definition at line 14 of file expose-tridiagonal-matrix.cpp.

◆ exposeURDFGeometry()

void pinocchio::python::exposeURDFGeometry ( )

Definition at line 210 of file bindings/python/parsers/urdf/geometry.cpp.

◆ exposeURDFModel()

void pinocchio::python::exposeURDFModel ( )

Definition at line 128 of file bindings/python/parsers/urdf/model.cpp.

◆ exposeURDFParser()

void pinocchio::python::exposeURDFParser ( )

inline

Definition at line 16 of file bindings/python/parsers/urdf.hpp.

◆ exposeVersion()

void pinocchio::python::exposeVersion ( )

Definition at line 18 of file bindings/python/utils/version.cpp.

◆ extract() [1/3]

template<typename T >

std::vector<T, std::allocator<T> > pinocchio::python::extract ( const boost::python::list & list )

Definition at line 49 of file list.hpp.

◆ extract() [2/3]

template<typename T , class Allocator >

std::vector<T, Allocator> pinocchio::python::extract ( const boost::python::list & list )

Definition at line 57 of file list.hpp.

◆ extract() [3/3]

template<typename T , class Allocator >

void pinocchio::python::extract	(	const boost::python::list &	list,
		std::vector< T, Allocator > &	vec
	)

Definition at line 25 of file list.hpp.

◆ findCommonAncestor_proxy()

bp::tuple pinocchio::python::findCommonAncestor_proxy	(	const context::Model &	model,
		const JointIndex	joint1_id,
		const JointIndex	joint2_id
	)

Definition at line 77 of file algorithm/expose-model.cpp.

◆ forwardDynamics_proxy()

static const context::VectorXs pinocchio::python::forwardDynamics_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::VectorXs &	tau,
		const context::MatrixXs &	J,
		const context::VectorXs &	gamma,
		const context::Scalar	inv_damping = `context::Scalar(0.0)`
	)

static

Definition at line 15 of file expose-contact-dynamics.cpp.

◆ forwardDynamics_proxy_no_q()

static const context::VectorXs pinocchio::python::forwardDynamics_proxy_no_q	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	tau,
		const context::MatrixXs &	J,
		const context::VectorXs &	gamma,
		const context::Scalar	inv_damping = `context::Scalar(0.0)`
	)

static

Definition at line 32 of file expose-contact-dynamics.cpp.

◆ frame_jacobian_time_variation_proxy()

static context::Data::Matrix6x pinocchio::python::frame_jacobian_time_variation_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const context::Data::FrameIndex	frame_id,
		const ReferenceFrame	rf
	)

static

Definition at line 136 of file expose-frames.cpp.

◆ frameBodyRegressor_proxy()

context::MatrixXs pinocchio::python::frameBodyRegressor_proxy	(	const context::Model &	model,
		context::Data &	data,
		const FrameIndex	frameId
	)

Definition at line 26 of file expose-regressor.cpp.

◆ from()

template<typename ReturnType >

ReturnType& pinocchio::python::from ( py::handle model )

inline

Definition at line 70 of file pybind11.hpp.

◆ get_frame_acceleration_proxy1()

static context::Data::Motion pinocchio::python::get_frame_acceleration_proxy1	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::FrameIndex	frame_id,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 58 of file expose-frames.cpp.

◆ get_frame_acceleration_proxy2()

static context::Data::Motion pinocchio::python::get_frame_acceleration_proxy2	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 67 of file expose-frames.cpp.

◆ get_frame_classical_acceleration_proxy1()

static context::Data::Motion pinocchio::python::get_frame_classical_acceleration_proxy1	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::FrameIndex	frame_id,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 77 of file expose-frames.cpp.

◆ get_frame_classical_acceleration_proxy2()

static context::Data::Motion pinocchio::python::get_frame_classical_acceleration_proxy2	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 86 of file expose-frames.cpp.

◆ get_frame_jacobian_proxy1()

static context::Data::Matrix6x pinocchio::python::get_frame_jacobian_proxy1	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::FrameIndex	frame_id,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 13 of file expose-frames.cpp.

◆ get_frame_jacobian_proxy2()

static context::Data::Matrix6x pinocchio::python::get_frame_jacobian_proxy2	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 26 of file expose-frames.cpp.

◆ get_frame_jacobian_time_variation_proxy()

static context::Data::Matrix6x pinocchio::python::get_frame_jacobian_time_variation_proxy	(	const context::Model &	model,
		context::Data &	data,
		context::Data::FrameIndex	jointId,
		ReferenceFrame	rf
	)

static

Definition at line 123 of file expose-frames.cpp.

◆ get_frame_velocity_proxy1()

static context::Data::Motion pinocchio::python::get_frame_velocity_proxy1	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::FrameIndex	frame_id,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 39 of file expose-frames.cpp.

◆ get_frame_velocity_proxy2()

static context::Data::Motion pinocchio::python::get_frame_velocity_proxy2	(	const context::Model &	model,
		context::Data &	data,
		const context::Data::JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf = `LOCAL`
	)

static

Definition at line 48 of file expose-frames.cpp.

◆ get_jacobian_proxy()

static context::Data::Matrix6x pinocchio::python::get_jacobian_proxy	(	const context::Model &	model,
		context::Data &	data,
		JointIndex	jointId,
		ReferenceFrame	rf
	)

static

Definition at line 26 of file expose-jacobian.cpp.

◆ get_jacobian_subtree_com_proxy()

static context::Data::Matrix3x pinocchio::python::get_jacobian_subtree_com_proxy	(	const context::Model &	model,
		context::Data &	data,
		context::Model::JointIndex	jointId
	)

static

Definition at line 85 of file expose-com.cpp.

◆ get_jacobian_time_variation_proxy()

static context::Data::Matrix6x pinocchio::python::get_jacobian_time_variation_proxy	(	const context::Model &	model,
		context::Data &	data,
		JointIndex	jointId,
		ReferenceFrame	rf
	)

static

Definition at line 36 of file expose-jacobian.cpp.

◆ get_offset()

static context::Scalar pinocchio::python::get_offset ( context::JointModelMimic & jmodel )

static

Definition at line 400 of file joints-models.hpp.

◆ get_scaling()

static context::Scalar pinocchio::python::get_scaling ( context::JointModelMimic & jmodel )

static

Definition at line 395 of file joints-models.hpp.

◆ getCentroidalDynamicsDerivatives_proxy()

bp::tuple pinocchio::python::getCentroidalDynamicsDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data
	)

Definition at line 36 of file expose-centroidal-derivatives.cpp.

◆ getCoMVelocityDerivatives_proxy()

context::Data::Matrix3x pinocchio::python::getCoMVelocityDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data
	)

Definition at line 92 of file expose-kinematics-derivatives.cpp.

◆ getConstraintJacobian_proxy()

static context::MatrixXs pinocchio::python::getConstraintJacobian_proxy	(	const context::Model &	model,
		const context::Data &	data,
		const context::RigidConstraintModel &	contact_model,
		context::RigidConstraintData &	contact_data
	)

static

Definition at line 23 of file expose-contact-jacobian.cpp.

◆ getConstraintsJacobian_proxy()

static context::MatrixXs pinocchio::python::getConstraintsJacobian_proxy	(	const context::Model &	model,
		const context::Data &	data,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas
	)

static

Definition at line 35 of file expose-contact-jacobian.cpp.

◆ getCurrentScopeName()

std::string pinocchio::python::getCurrentScopeName ( )

inline

Returns: the name of the current Python scope.

Definition at line 19 of file namespace.hpp.

◆ getFrameAccelerationDerivatives_proxy1()

bp::tuple pinocchio::python::getFrameAccelerationDerivatives_proxy1	(	const context::Model &	model,
		context::Data &	data,
		const context::Model::FrameIndex	frame_id,
		ReferenceFrame	rf
	)

Definition at line 51 of file expose-frames-derivatives.cpp.

◆ getFrameAccelerationDerivatives_proxy2()

bp::tuple pinocchio::python::getFrameAccelerationDerivatives_proxy2	(	const context::Model &	model,
		context::Data &	data,
		const context::Model::JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf
	)

Definition at line 70 of file expose-frames-derivatives.cpp.

◆ getFrameVelocityDerivatives_proxy1()

bp::tuple pinocchio::python::getFrameVelocityDerivatives_proxy1	(	const context::Model &	model,
		context::Data &	data,
		const context::Model::FrameIndex	frame_id,
		ReferenceFrame	rf
	)

Definition at line 18 of file expose-frames-derivatives.cpp.

◆ getFrameVelocityDerivatives_proxy2()

bp::tuple pinocchio::python::getFrameVelocityDerivatives_proxy2	(	const context::Model &	model,
		context::Data &	data,
		const context::Model::JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf
	)

Definition at line 34 of file expose-frames-derivatives.cpp.

◆ getJointAccelerationDerivatives_proxy()

bp::tuple pinocchio::python::getJointAccelerationDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data,
		const JointIndex	jointId,
		ReferenceFrame	rf
	)

Definition at line 51 of file expose-kinematics-derivatives.cpp.

◆ getJointVelocityDerivatives_proxy()

bp::tuple pinocchio::python::getJointVelocityDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data,
		const JointIndex	jointId,
		ReferenceFrame	rf
	)

Definition at line 18 of file expose-kinematics-derivatives.cpp.

◆ getKKTContactDynamicMatrixInverse_proxy()

static const context::MatrixXs pinocchio::python::getKKTContactDynamicMatrixInverse_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::MatrixXs &	J
	)

static

Definition at line 90 of file expose-contact-dynamics.cpp.

◆ getOrCreatePythonNamespace()

boost::python::object pinocchio::python::getOrCreatePythonNamespace ( const std::string & submodule_name )

inline

Helper to create or simply return an existing namespace in Python.

Parameters

[in] submodule_name name of the submodule

Returns: The submodule related to the namespace name.

Definition at line 34 of file namespace.hpp.

◆ getPointClassicAccelerationDerivatives_proxy()

bp::tuple pinocchio::python::getPointClassicAccelerationDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data,
		const JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf
	)

Definition at line 70 of file expose-kinematics-derivatives.cpp.

◆ getPointVelocityDerivatives_proxy()

bp::tuple pinocchio::python::getPointVelocityDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data,
		const JointIndex	joint_id,
		const context::SE3 &	placement,
		ReferenceFrame	rf
	)

Definition at line 34 of file expose-kinematics-derivatives.cpp.

◆ getScalarType()

boost::python::object pinocchio::python::getScalarType ( )

inline

Definition at line 19 of file boost_number.cpp.

◆ Hlog3()

pinocchio::python::Hlog3	(	M	,
		v	,
		res
	)

◆ impulseDynamics_proxy() [1/2]

static const context::VectorXs pinocchio::python::impulseDynamics_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas,
		const context::Scalar	r_coeff,
		const context::ProximalSettings &	prox_settings
	)

static

Definition at line 24 of file expose-impulse-dynamics.cpp.

◆ impulseDynamics_proxy() [2/2]

static const context::VectorXs pinocchio::python::impulseDynamics_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		const context::VectorXs &	v_before,
		const context::MatrixXs &	J,
		const context::Scalar	r_coeff = `context::Scalar(0.)`,
		const context::Scalar	inv_damping = `context::Scalar(0.)`
	)

static

Definition at line 47 of file expose-contact-dynamics.cpp.

◆ impulseDynamics_proxy_no_q()

static const context::VectorXs pinocchio::python::impulseDynamics_proxy_no_q	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	v_before,
		const context::MatrixXs &	J,
		const context::Scalar	r_coeff = `context::Scalar(0.)`,
		const context::Scalar	inv_damping = `context::Scalar(0.)`
	)

static

Definition at line 63 of file expose-contact-dynamics.cpp.

◆ impulseDynamicsDerivatives_proxy()

static void pinocchio::python::impulseDynamicsDerivatives_proxy	(	const context::Model &	model,
		context::Data &	data,
		const RigidConstraintModelVector &	contact_models,
		RigidConstraintDataVector &	contact_datas,
		const context::Scalar &	r_coeff,
		const context::ProximalSettings &	prox_settings
	)

static

Definition at line 23 of file expose-impulse-dynamics-derivatives.cpp.

◆ init_proxy()

static context::JointModelMimic* pinocchio::python::init_proxy	(	const context::JointModel &	jmodel,
		const context::Scalar &	scaling,
		const context::Scalar &	offset
	)

static

Definition at line 387 of file joints-models.hpp.

◆ init_proxy1()

static context::JointModelComposite* pinocchio::python::init_proxy1 ( const context::JointModel & jmodel )

static

Definition at line 320 of file joints-models.hpp.

◆ init_proxy2()

static context::JointModelComposite* pinocchio::python::init_proxy2	(	const context::JointModel &	jmodel,
		const context::SE3 &	joint_placement
	)

static

Definition at line 327 of file joints-models.hpp.

◆ jacobian_subtree_com_kinematics_proxy()

static context::Data::Matrix3x pinocchio::python::jacobian_subtree_com_kinematics_proxy	(	const context::Model &	model,
		context::Data &	data,
		const context::VectorXs &	q,
		context::Model::JointIndex	jointId
	)

static

Definition at line 62 of file expose-com.cpp.

◆ jacobian_subtree_com_proxy()

static context::Data::Matrix3x pinocchio::python::jacobian_subtree_com_proxy	(	const context::Model &	model,
		context::Data &	data,
		context::Model::JointIndex	jointId
	)

static

Definition at line 75 of file expose-com.cpp.

◆ Jexp3_proxy()

template<typename Vector3Like >

Eigen:: Matrix<typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::python::Jexp3_proxy ( const Vector3Like & v )

Definition at line 44 of file bindings/python/spatial/explog.hpp.

◆ Jexp6_proxy() [1/2]

template<typename Scalar , int Options>

MotionTpl<Scalar, Options>::Matrix6 pinocchio::python::Jexp6_proxy ( const MotionTpl< Scalar, Options > & v )

Definition at line 105 of file bindings/python/spatial/explog.hpp.

◆ Jexp6_proxy() [2/2]

template<typename Vector6Like >

Eigen:: Matrix<typename Vector6Like::Scalar, 6, 6, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> pinocchio::python::Jexp6_proxy ( const Vector6Like & vec6 )

Definition at line 116 of file bindings/python/spatial/explog.hpp.

◆ Jlog6_proxy()

template<typename Scalar , int Options>

SE3Tpl<Scalar, Options>::Matrix6 pinocchio::python::Jlog6_proxy ( const SE3Tpl< Scalar, Options > & M )

Definition at line 96 of file bindings/python/spatial/explog.hpp.

◆ jointBodyRegressor_proxy()

context::MatrixXs pinocchio::python::jointBodyRegressor_proxy	(	const context::Model &	model,
		context::Data &	data,
		const JointIndex	jointId
	)

Definition at line 20 of file expose-regressor.cpp.

◆ loadReferenceConfigurations()

void pinocchio::python::loadReferenceConfigurations	(	Model &	model,
		const bp::object &	filename,
		const bool	verbose = `false`
	)

Definition at line 27 of file bindings/python/parsers/srdf.cpp.

◆ loadReferenceConfigurationsFromXML()

void pinocchio::python::loadReferenceConfigurationsFromXML	(	Model &	model,
		const std::string &	xmlStream,
		const bool	verbose = `false`
	)

Definition at line 33 of file bindings/python/parsers/srdf.cpp.

◆ loadRotorParameters()

bool pinocchio::python::loadRotorParameters	(	Model &	model,
		const bp::object &	filename,
		const bool	verbose = `false`
	)

Definition at line 40 of file bindings/python/parsers/srdf.cpp.

◆ log3_proxy() [1/3]

template<typename Matrix3Like >

Eigen:: Matrix<typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> pinocchio::python::log3_proxy ( const Matrix3Like & R )

Definition at line 129 of file bindings/python/spatial/explog.hpp.

◆ log3_proxy() [2/3]

template<typename Matrix3Like , typename Matrix1Like >

Eigen:: Matrix<typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> pinocchio::python::log3_proxy	(	const Matrix3Like &	R,
		Eigen::Ref< Matrix1Like >	theta
	)

Definition at line 137 of file bindings/python/spatial/explog.hpp.

◆ log3_proxy() [3/3]

template<typename QuaternionLike >

Eigen::Matrix< typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options> pinocchio::python::log3_proxy ( const QuaternionLike & quat )

Definition at line 156 of file bindings/python/spatial/explog.hpp.

◆ log3_proxy_fix()

template<typename Matrix3Like , typename Scalar >

Eigen:: Matrix<typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> pinocchio::python::log3_proxy_fix	(	const Matrix3Like &	R,
		Scalar &	theta
	)

Definition at line 145 of file bindings/python/spatial/explog.hpp.

◆ log3_proxy_quatvec() [1/2]

template<typename Vector4Like >

Eigen:: Matrix<typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> pinocchio::python::log3_proxy_quatvec ( const Vector4Like & v )

Definition at line 164 of file bindings/python/spatial/explog.hpp.

◆ log3_proxy_quatvec() [2/2]

template<typename Vector4Like , typename Matrix1Like >

Eigen:: Matrix<typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> pinocchio::python::log3_proxy_quatvec	(	const Vector4Like &	v,
		Eigen::Ref< Matrix1Like >	theta
	)

Definition at line 180 of file bindings/python/spatial/explog.hpp.

◆ log3_proxy_quatvec_fix()

template<typename Vector4Like , typename _Scalar >

Eigen:: Matrix<typename Vector4Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector4Like)::Options> pinocchio::python::log3_proxy_quatvec_fix	(	const Vector4Like &	v,
		_Scalar &	theta
	)

Definition at line 197 of file bindings/python/spatial/explog.hpp.

◆ log6_proxy()

template<typename Matrix4Like >

MotionTpl<typename Matrix4Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix4Like)::Options> pinocchio::python::log6_proxy ( const Matrix4Like & homegenous_matrix )

Definition at line 213 of file bindings/python/spatial/explog.hpp.

◆ log6_proxy_quatvec()

template<typename Vector7Like >

MotionTpl<typename Vector7Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector7Like)::Options> pinocchio::python::log6_proxy_quatvec ( const Vector7Like & q )

Definition at line 220 of file bindings/python/spatial/explog.hpp.

◆ make_pybind11_function()

template<typename R , typename... Args>

internal::function_wrapper<R (*)(Args...)> pinocchio::python::make_pybind11_function ( R(*)(Args...) func )

Creates a function wrapper.

Using function wrapper has the advantage of being copy-less when possible but the disadvantage of requiring to wrap the exposed function.

The wrapper does:

converts the argument if a conversion has been previously declared,
call the wrapped function
converts the result if a conversion has been previously declared.

Definition at line 185 of file pybind11.hpp.

◆ make_ref()

template<typename Matrix >

Eigen::Ref<Matrix> pinocchio::python::make_ref ( const Eigen::PlainObjectBase< Matrix > & mat )

Definition at line 17 of file bindings/python/utils/eigen.hpp.

◆ make_symmetric()

template<typename Matrix >

void pinocchio::python::make_symmetric	(	const Eigen::MatrixBase< Matrix > &	mat,
		const int	mode = `Eigen::Upper`
	)

Definition at line 24 of file bindings/python/utils/eigen.hpp.

◆ makeLieGroup()

template<typename LgType >

CartesianProductOperationVariantTpl< context::Scalar, context::Options, LieGroupCollectionDefaultTpl> pinocchio::python::makeLieGroup ( )

Definition at line 23 of file expose-liegroups.cpp.

◆ makeRn()

CartesianProductOperationVariantTpl< context::Scalar, context::Options, LieGroupCollectionDefaultTpl> pinocchio::python::makeRn ( int n )

Definition at line 33 of file expose-liegroups.cpp.

◆ normalize_proxy()

static context::VectorXs pinocchio::python::normalize_proxy	(	const context::Model &	model,
		const context::VectorXs &	config
	)

static

Definition at line 14 of file algorithm/expose-joints.cpp.

◆ path()

std::string pinocchio::python::path ( const bp::object & path )

python pathlib.Path | str -> C++ std::string

Definition at line 13 of file path.cpp.

◆ pathList()

std::vector< std::string > pinocchio::python::pathList ( const bp::object & path_list )

python typing.List[pathlib.Path] | typing.List[str] -> C++ std::vector<std::string>

Definition at line 31 of file path.cpp.

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

typedef pinocchio::python::PINOCCHIO_ALIGNED_STD_VECTOR ( context::Force )

◆ PINOCCHIO_EIGEN_PLAIN_TYPE() [1/4]

template<typename Matrix >

pinocchio::python::PINOCCHIO_EIGEN_PLAIN_TYPE ( Matrix ) const

Definition at line 39 of file bindings/python/utils/eigen.hpp.

◆ PINOCCHIO_EIGEN_PLAIN_TYPE() [2/4]

template<typename Matrix3Like , typename Vector3Like >

pinocchio::python::PINOCCHIO_EIGEN_PLAIN_TYPE ( Matrix3Like ) const &

◆ PINOCCHIO_EIGEN_PLAIN_TYPE() [3/4]

template<typename Matrix3Like >

pinocchio::python::PINOCCHIO_EIGEN_PLAIN_TYPE ( Matrix3Like ) const &

Definition at line 55 of file bindings/python/spatial/explog.hpp.

◆ PINOCCHIO_EIGEN_PLAIN_TYPE() [4/4]

template<typename MatrixType >

pinocchio::python::PINOCCHIO_EIGEN_PLAIN_TYPE ( MatrixType ) const

Definition at line 18 of file expose-linalg.cpp.

◆ PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR() [1/2]

typedef pinocchio::python::PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR ( context::RigidConstraintData )

◆ PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR() [2/2]

typedef pinocchio::python::PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR ( context::RigidConstraintModel )

◆ prepare_proxy()

static boost::asio::streambuf& pinocchio::python::prepare_proxy	(	boost::asio::streambuf &	self,
		const std::size_t	n
	)

static

Definition at line 24 of file bindings/python/serialization/serialization.cpp.

◆ randomConfiguration_proxy()

static context::VectorXs pinocchio::python::randomConfiguration_proxy ( const context::Model & model )

static

Definition at line 21 of file algorithm/expose-joints.cpp.

◆ reachableWorkspace_()

static context::Data::MatrixXs pinocchio::python::reachableWorkspace_	(	const context::Model &	model,
		const context::VectorXs &	q0,
		const double	time_horizon,
		const int	frame_id,
		const int	n_samples = `5`,
		const int	facet_dims = `3`
	)

static

Definition at line 35 of file expose-reachable-workspace.cpp.

◆ reachableWorkspaceHull_()

bp::tuple pinocchio::python::reachableWorkspaceHull_	(	const context::Model &	model,
		const context::VectorXs &	q0,
		const double	time_horizon,
		const int	frame_id,
		const int	n_samples = `5`,
		const int	facet_dims = `3`
	)

Definition at line 18 of file expose-reachable-workspace.cpp.

◆ register_symbolic_link_to_registered_type()

template<typename T >

bool pinocchio::python::register_symbolic_link_to_registered_type ( )

inline

Definition at line 16 of file registration.hpp.

◆ removeCollisionPairs()

void pinocchio::python::removeCollisionPairs	(	const Model &	model,
		GeometryModel &	geom_model,
		const bp::object &	filename,
		const bool	verbose = `false`
	)

Definition at line 18 of file bindings/python/parsers/srdf.cpp.

◆ rnea_proxy()

static Eigen::MatrixXd pinocchio::python::rnea_proxy	(	const int	num_thread,
		ModelPool &	pool,
		const Eigen::MatrixXd &	q,
		const Eigen::MatrixXd &	v,
		const Eigen::MatrixXd &	a
	)

static

Definition at line 26 of file bindings/python/algorithm/parallel/rnea.cpp.

◆ rnea_proxy_res()

static void pinocchio::python::rnea_proxy_res	(	const int	num_thread,
		ModelPool &	pool,
		const Eigen::MatrixXd &	q,
		const Eigen::MatrixXd &	v,
		const Eigen::MatrixXd &	a,
		Eigen::Ref< Eigen::MatrixXd >	tau
	)

static

Definition at line 15 of file bindings/python/algorithm/parallel/rnea.cpp.

◆ rotate()

context::Matrix3s pinocchio::python::rotate	(	const std::string &	axis,
		const context::Scalar	ang
	)

Definition at line 15 of file expose-rpy.cpp.

◆ sanitizedClassname()

template<typename T >

std::string pinocchio::python::sanitizedClassname ( )

Definition at line 24 of file joints-variant.hpp.

◆ serialize()

template<typename T >

void pinocchio::python::serialize ( )

Definition at line 21 of file serialization.hpp.

◆ skew()

template<typename Vector3 >

Eigen::Matrix<typename Vector3::Scalar, 3, 3, Vector3::Options> pinocchio::python::skew ( const Vector3 & v )

Definition at line 19 of file expose-skew.cpp.

◆ skewSquare()

template<typename Vector3 >

Eigen::Matrix<typename Vector3::Scalar, 3, 3, Vector3::Options> pinocchio::python::skewSquare	(	const Vector3 &	u,
		const Vector3 &	v
	)

Definition at line 28 of file expose-skew.cpp.

◆ to() [1/2]

template<typename T >

py::object pinocchio::python::to ( T & t )

inline

Definition at line 52 of file pybind11.hpp.

◆ to() [2/2]

template<typename T >

py::object pinocchio::python::to ( T * t )

inline

Definition at line 60 of file pybind11.hpp.

◆ tobytes()

static PyObject* pinocchio::python::tobytes ( boost::asio::streambuf & self )

static

Definition at line 38 of file bindings/python/serialization/serialization.cpp.

◆ transformJointIntoMimic_proxy()

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

ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::python::transformJointIntoMimic_proxy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	input_model,
		const JointIndex &	index_mimicked,
		const JointIndex &	index_mimicking,
		const Scalar &	scaling,
		const Scalar &	offset
	)

Definition at line 87 of file algorithm/expose-model.cpp.

◆ unSkew()

template<typename Matrix3 >

Eigen::Matrix<typename Matrix3::Scalar, 3, 1, Matrix3::Options> pinocchio::python::unSkew ( const Matrix3 & mat )

Definition at line 36 of file expose-skew.cpp.

◆ view()

static PyObject* pinocchio::python::view ( boost::asio::streambuf & self )

static

Definition at line 30 of file bindings/python/serialization/serialization.cpp.

Variable Documentation

◆ ConstRefVectorXs

const typedef Eigen::Ref< const VectorXs > pinocchio::python::ConstRefVectorXs

Definition at line 31 of file admm-solver.cpp.

◆ res

return pinocchio::python::res

Definition at line 68 of file bindings/python/spatial/explog.hpp.

◆ v

const Vector3Like& pinocchio::python::v

Initial value:

{

typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like) ReturnType

Definition at line 66 of file bindings/python/spatial/explog.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ContactCholeskyDecomposition

◆ PowerIterationAlgo

◆ Scalar

◆ Solver

◆ SolverStats

◆ StdVectorPythonVisitor

◆ VectorXb

◆ VectorXs

Enumeration Type Documentation

◆ anonymous enum

Function Documentation

◆ _exposeBroadphaseAlgo()

◆ aba_proxy()

◆ aba_proxy_res()

◆ addJoint_proxy()

◆ appendModel_proxy()

◆ bodyRegressor_proxy()

◆ buffer_copy()

◆ buildGeomFromMJCF() [1/2]

◆ buildGeomFromMJCF() [2/2]

◆ buildModel()

◆ buildModelFromMJCF() [1/3]

◆ buildModelFromMJCF() [2/3]

◆ buildModelFromMJCF() [3/3]

◆ buildReducedModel() [1/2]

◆ buildReducedModel() [2/2]

◆ buildSampleModelHumanoid()

◆ buildSampleModelHumanoidRandom()

◆ buildSampleModelManipulator()

◆ com_0_proxy()

◆ com_1_proxy()

◆ com_2_proxy()

◆ com_default_proxy()

◆ com_level_proxy()

◆ compute_frame_jacobian_proxy() [1/2]

◆ compute_frame_jacobian_proxy() [2/2]

◆ compute_jacobian_proxy()

◆ computeABADerivatives()

◆ computeABADerivatives_fext()

◆ computeABADerivatives_min()

◆ computeABADerivatives_min_fext()

◆ computeAllTerms_proxy()

◆ computeCentroidalDynamicsDerivatives_proxy()

◆ computeCollisionsInParallel_1()

◆ computeCollisionsInParallel_2()

◆ computeCollisionsInParallel_full_proxy()

◆ computeCollisionsInParallel_pool_proxy()

◆ computeCollisionsInParallel_proxy()

◆ computeComplementarityShift_wrapper()

◆ computeConeProjection_wrapper()

◆ computeConstraintDynamicsDerivatives_proxy()

◆ computeContactImpulses_wrapper()

◆ computeDampedDelassusMatrixInverse_proxy()

◆ computeDelassusMatrix_proxy()

◆ computeDistances_proxy()

◆ computeDualConeProjection_wrapper()

◆ computeGeneralizedGravityDerivatives()

◆ computeKKTContactDynamicMatrixInverse_proxy()

◆ computeMinverse_min_proxy()

◆ computeMinverse_proxy()

◆ computePrimalFeasibility_wrapper()

◆ computeReprojectionError_wrapper()

◆ computeRNEADerivatives()

◆ computeRNEADerivatives_fext()

◆ computeStaticTorqueDerivatives()

◆ constraintDynamics_proxy()

◆ constraintDynamics_proxy_default()

◆ contactInverseDynamics_wrapper()

◆ crba_proxy()

◆ dDifference_arg_proxy()

◆ dDifference_proxy()

◆ default_arg()

◆ dIntegrate_arg_proxy()