src/algorithm/frames-derivatives.cpp
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #include "pinocchio/algorithm/frames-derivatives.hpp"
6 
7 namespace pinocchio
8 {
9 
10  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getFrameVelocityDerivatives<
11  context::Scalar,
12  context::Options,
13  JointCollectionDefaultTpl,
14  context::Matrix6xs,
15  context::Matrix6xs>(
16  const context::Model &,
17  const context::Data &,
18  const JointIndex,
19  const SE3Tpl<context::Scalar, context::Options> &,
20  const ReferenceFrame,
21  const Eigen::MatrixBase<context::Matrix6xs> &,
22  const Eigen::MatrixBase<context::Matrix6xs> &);
23 
24  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getFrameVelocityDerivatives<
25  context::Scalar,
26  context::Options,
27  JointCollectionDefaultTpl,
28  context::Matrix6xs,
29  context::Matrix6xs>(
30  const context::Model &,
31  context::Data &,
32  const FrameIndex,
33  const ReferenceFrame,
34  const Eigen::MatrixBase<context::Matrix6xs> &,
35  const Eigen::MatrixBase<context::Matrix6xs> &);
36 
37  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getFrameAccelerationDerivatives<
38  context::Scalar,
39  context::Options,
40  JointCollectionDefaultTpl,
41  context::Matrix6xs,
42  context::Matrix6xs,
43  context::Matrix6xs,
44  context::Matrix6xs>(
45  const context::Model &,
46  context::Data &,
47  const JointIndex,
48  const SE3Tpl<context::Scalar, context::Options> &,
49  const ReferenceFrame,
50  const Eigen::MatrixBase<context::Matrix6xs> &,
51  const Eigen::MatrixBase<context::Matrix6xs> &,
52  const Eigen::MatrixBase<context::Matrix6xs> &,
53  const Eigen::MatrixBase<context::Matrix6xs> &);
54 
55  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getFrameAccelerationDerivatives<
56  context::Scalar,
57  context::Options,
58  JointCollectionDefaultTpl,
59  context::Matrix6xs,
60  context::Matrix6xs,
61  context::Matrix6xs,
62  context::Matrix6xs>(
63  const context::Model &,
64  context::Data &,
65  const FrameIndex,
66  const ReferenceFrame,
67  const Eigen::MatrixBase<context::Matrix6xs> &,
68  const Eigen::MatrixBase<context::Matrix6xs> &,
69  const Eigen::MatrixBase<context::Matrix6xs> &,
70  const Eigen::MatrixBase<context::Matrix6xs> &);
71 
72  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getFrameAccelerationDerivatives<
73  context::Scalar,
74  context::Options,
75  JointCollectionDefaultTpl,
76  context::Matrix6xs,
77  context::Matrix6xs,
78  context::Matrix6xs,
79  context::Matrix6xs,
80  context::Matrix6xs>(
81  const context::Model &,
82  context::Data &,
83  const JointIndex,
84  const SE3Tpl<context::Scalar, context::Options> &,
85  const ReferenceFrame,
86  const Eigen::MatrixBase<context::Matrix6xs> &,
87  const Eigen::MatrixBase<context::Matrix6xs> &,
88  const Eigen::MatrixBase<context::Matrix6xs> &,
89  const Eigen::MatrixBase<context::Matrix6xs> &,
90  const Eigen::MatrixBase<context::Matrix6xs> &);
91 
92  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void getFrameAccelerationDerivatives<
93  context::Scalar,
94  context::Options,
95  JointCollectionDefaultTpl,
96  context::Matrix6xs,
97  context::Matrix6xs,
98  context::Matrix6xs,
99  context::Matrix6xs,
100  context::Matrix6xs>(
101  const context::Model &,
102  context::Data &,
103  const FrameIndex,
104  const ReferenceFrame,
105  const Eigen::MatrixBase<context::Matrix6xs> &,
106  const Eigen::MatrixBase<context::Matrix6xs> &,
107  const Eigen::MatrixBase<context::Matrix6xs> &,
108  const Eigen::MatrixBase<context::Matrix6xs> &,
109  const Eigen::MatrixBase<context::Matrix6xs> &);
110 
111 } // namespace pinocchio
pinocchio::FrameIndex
Index FrameIndex
Definition: multibody/fwd.hpp:28
pinocchio::getFrameAccelerationDerivatives
void getFrameAccelerationDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
Computes the partial derivatives of the spatial acceleration of a frame given by its relative placeme...
pinocchio::ReferenceFrame
ReferenceFrame
Various conventions to express the velocity of a moving frame.
Definition: multibody/fwd.hpp:46
Data
Model::Data Data
Definition: timings-cppad-jit.cpp:49
pinocchio::getFrameVelocityDerivatives
void getFrameVelocityDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv)
Computes the partial derivatives of the spatial velocity of a frame given by its relative placement,...
pinocchio::context::Options
@ Options
Definition: context/generic.hpp:82
pinocchio::JointIndex
Index JointIndex
Definition: multibody/fwd.hpp:26
Model
pinocchio::ModelTpl< Scalar > Model
Definition: timings-cppad-jit.cpp:48
pinocchio::context::Scalar
PINOCCHIO_SCALAR_TYPE Scalar
Definition: context/generic.hpp:79
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:33
frames-derivatives.hpp

pinocchio
Author(s):
autogenerated on Wed May 28 2025 02:41:18