centroidal.hpp
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1 //
2 // Copyright (c) 2015-2019 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_centroidal_hpp__
6 #define __pinocchio_algorithm_centroidal_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/kinematics.hpp"
11 
12 namespace pinocchio
13 {
14 
29  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
30  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force & computeCentroidalMomentum(
31  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
32  DataTpl<Scalar, Options, JointCollectionTpl> & data);
33 
52  template<
53  typename Scalar,
54  int Options,
55  template<typename, int>
56  class JointCollectionTpl,
57  typename ConfigVectorType,
58  typename TangentVectorType>
59  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force & computeCentroidalMomentum(
60  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
61  DataTpl<Scalar, Options, JointCollectionTpl> & data,
62  const Eigen::MatrixBase<ConfigVectorType> & q,
63  const Eigen::MatrixBase<TangentVectorType> & v);
64 
82  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
83  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force &
84  computeCentroidalMomentumTimeVariation(
85  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
86  DataTpl<Scalar, Options, JointCollectionTpl> & data);
87 
111  template<
112  typename Scalar,
113  int Options,
114  template<typename, int>
115  class JointCollectionTpl,
116  typename ConfigVectorType,
117  typename TangentVectorType1,
118  typename TangentVectorType2>
119  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force &
120  computeCentroidalMomentumTimeVariation(
121  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
122  DataTpl<Scalar, Options, JointCollectionTpl> & data,
123  const Eigen::MatrixBase<ConfigVectorType> & q,
124  const Eigen::MatrixBase<TangentVectorType1> & v,
125  const Eigen::MatrixBase<TangentVectorType2> & a);
126 
146  template<
147  typename Scalar,
148  int Options,
149  template<typename, int>
150  class JointCollectionTpl,
151  typename ConfigVectorType,
152  typename TangentVectorType>
153  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & ccrba(
154  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
155  DataTpl<Scalar, Options, JointCollectionTpl> & data,
156  const Eigen::MatrixBase<ConfigVectorType> & q,
157  const Eigen::MatrixBase<TangentVectorType> & v);
158 
174  template<
175  typename Scalar,
176  int Options,
177  template<typename, int>
178  class JointCollectionTpl,
179  typename ConfigVectorType>
180  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeCentroidalMap(
181  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
182  DataTpl<Scalar, Options, JointCollectionTpl> & data,
183  const Eigen::MatrixBase<ConfigVectorType> & q);
184 
207  template<
208  typename Scalar,
209  int Options,
210  template<typename, int>
211  class JointCollectionTpl,
212  typename ConfigVectorType,
213  typename TangentVectorType>
214  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & dccrba(
215  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
216  DataTpl<Scalar, Options, JointCollectionTpl> & data,
217  const Eigen::MatrixBase<ConfigVectorType> & q,
218  const Eigen::MatrixBase<TangentVectorType> & v);
219 
238  template<
239  typename Scalar,
240  int Options,
241  template<typename, int>
242  class JointCollectionTpl,
243  typename ConfigVectorType,
244  typename TangentVectorType>
245  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
246  computeCentroidalMapTimeVariation(
247  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
248  DataTpl<Scalar, Options, JointCollectionTpl> & data,
249  const Eigen::MatrixBase<ConfigVectorType> & q,
250  const Eigen::MatrixBase<TangentVectorType> & v);
251 
252 } // namespace pinocchio
253 
254 /* --- Details -------------------------------------------------------------------- */
255 #include "pinocchio/algorithm/centroidal.hxx"
256 
257 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
258  #include "pinocchio/algorithm/centroidal.txx"
259 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
260 
261 #endif // ifndef __pinocchio_algorithm_centroidal_hpp__
pinocchio::Options
Options
Definition: joint-configuration.hpp:1116
kinematics.hpp
model.hpp
setup.data
data
Definition: cmake/cython/setup.in.py:48
pinocchio::python::Scalar
context::Scalar Scalar
Definition: admm-solver.cpp:29
pinocchio::dccrba
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & dccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration...
pinocchio::computeCentroidalMapTimeVariation
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMapTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix time derivative.
pinocchio::computeCentroidalMap
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMap(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the Centroidal Momentum Matrix.
data.hpp
pinocchio::ccrba
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & ccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal m...
pinocchio::computeCentroidalMomentumTimeVariation
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentumTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and...
pinocchio::q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
Definition: joint-configuration.hpp:1117
a
Vec3f a
pinocchio::v
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
Definition: joint-configuration.hpp:1118
pinocchio::DataTpl::Force
ForceTpl< Scalar, Options > Force
Definition: multibody/data.hpp:58
pinocchio::DataTpl::Matrix6x
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
Definition: multibody/data.hpp:92
pinocchio::computeCentroidalMomentum
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentum(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center ...
pinocchio::model
JointCollectionTpl & model
Definition: joint-configuration.hpp:1116
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27

pinocchio
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autogenerated on Tue Jun 25 2024 02:42:34