#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/algorithm/jacobian.hpp"#include "pinocchio/algorithm/kinematics-derivatives.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 > | |
| void | pinocchio::computeForwardKinematicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a) |
| Computes all the terms required to compute the derivatives of the placement, spatial velocity and acceleration for any joint of the model. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | pinocchio::computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data) |
| Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See computeJointJacobians for such a function. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| void | pinocchio::computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q) |
| Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 > | |
| void | pinocchio::getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, 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 derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 > | |
| void | pinocchio::getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da) |
| Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| Tensor< Scalar, 3, Options > | pinocchio::getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf) |
Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to  , the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | pinocchio::getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf, Tensor< Scalar, 3, Options > &kinematic_hessian) |
| Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to , the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. The frame in which the kinematic Hessian is precised by the input argument rf. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 > | |
| void | pinocchio::getJointVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv) |
| Computes the partial derivaties of the spatial velocity of a given with respect to the joint configuration and velocity. You must first call computForwardKinematicsDerivatives before calling this function. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut1 , typename Matrix3xOut2 , typename Matrix3xOut3 , typename Matrix3xOut4 > | |
| void | pinocchio::getPointClassicAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix3xOut1 > &v_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut2 > &a_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut3 > &a_point_partial_dv, const Eigen::MatrixBase< Matrix3xOut4 > &a_point_partial_da) |
| Computes the partial derivatives of the classic acceleration of a point given by its placement information w.r.t. the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_point_partial_dq. v_point_partial_dv is not computed it is equal to a_point_partial_da. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut1 , typename Matrix3xOut2 , typename Matrix3xOut3 , typename Matrix3xOut4 , typename Matrix3xOut5 > | |
| void | pinocchio::getPointClassicAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix3xOut1 > &v_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut2 > &v_point_partial_dv, const Eigen::MatrixBase< Matrix3xOut3 > &a_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut4 > &a_point_partial_dv, const Eigen::MatrixBase< Matrix3xOut5 > &a_point_partial_da) |
| Computes the partial derivaties of the classic acceleration of a point given by its placement information w.r.t. to the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_point_partial_dq and v_point_partial_dv.. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut1 , typename Matrix3xOut2 > | |
| void | pinocchio::getPointVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix3xOut1 > &v_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut2 > &v_point_partial_dv) |
| Computes the partial derivatives of the velocity of a point given by its placement information w.r.t. the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. More... | |