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5 #ifndef __pinocchio_algorithm_regressor_hpp__
6 #define __pinocchio_algorithm_regressor_hpp__
25 template<
typename,
int>
26 class JointCollectionTpl,
27 typename Matrix6xReturnType>
29 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
30 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
33 const SE3Tpl<Scalar, Options> &
placement,
34 const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor);
52 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
61 ReturnType
res(ReturnType::Zero(6, (
model.njoints - 1) * 6));
78 template<
typename,
int>
79 class JointCollectionTpl,
80 typename Matrix6xReturnType>
82 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
83 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
86 const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor);
103 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
111 ReturnType
res(ReturnType::Zero(6, (
model.njoints - 1) * 6));
128 template<
typename,
int>
129 class JointCollectionTpl,
130 typename Matrix6xReturnType>
132 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
133 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
136 const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor);
153 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
161 ReturnType
res(ReturnType::Zero(6, (
model.njoints - 1) * 6));
190 template<
typename,
int>
191 class JointCollectionTpl,
192 typename ConfigVectorType>
194 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
195 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
196 const Eigen::MatrixBase<ConfigVectorType> &
q);
208 template<
typename MotionVelocity,
typename MotionAcceleration,
typename OutputType>
210 const MotionDense<MotionVelocity> &
v,
211 const MotionDense<MotionAcceleration> &
a,
212 const Eigen::MatrixBase<OutputType> & regressor);
225 template<
typename MotionVelocity,
typename MotionAcceleration>
226 inline Eigen::Matrix<
231 bodyRegressor(const MotionDense<MotionVelocity> &
v, const MotionDense<MotionAcceleration> &
a);
251 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
254 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
255 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
276 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
279 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
280 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
310 template<
typename,
int>
311 class JointCollectionTpl,
312 typename ConfigVectorType,
313 typename TangentVectorType1,
314 typename TangentVectorType2>
317 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
318 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
319 const Eigen::MatrixBase<ConfigVectorType> &
q,
320 const Eigen::MatrixBase<TangentVectorType1> &
v,
321 const Eigen::MatrixBase<TangentVectorType2> &
a);
344 template<
typename,
int>
345 class JointCollectionTpl,
346 typename ConfigVectorType,
347 typename TangentVectorType>
349 computeKineticEnergyRegressor(
350 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
351 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
352 const Eigen::MatrixBase<ConfigVectorType> &
q,
353 const Eigen::MatrixBase<TangentVectorType> &
v);
374 template<
typename,
int>
375 class JointCollectionTpl,
376 typename ConfigVectorType>
379 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
380 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
381 const Eigen::MatrixBase<ConfigVectorType> &
q);
385 #include "pinocchio/algorithm/regressor.hxx"
387 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
388 #include "pinocchio/algorithm/regressor.txx"
389 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
391 #endif // ifndef __pinocchio_algorithm_regressor_hpp__
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
ReferenceFrame
Various conventions to express the velocity of a moving frame.
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & computeJointTorqueRegressor(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 the joint torque regressor that links the joint torque to the dynamic parameters of each lin...
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & frameBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex frame_id)
Computes the regressor for the dynamic parameters of a rigid body attached to a given frame,...
const MotionDense< Motion2 > const SE3Tpl< SE3Scalar, SE3Options > & placement
Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x
The 3d jacobian type (temporary)
const DataTpl< Scalar, Options, JointCollectionTpl >::RowVectorXs & computePotentialEnergyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Eigen::Matrix< Scalar, 3, 1, Options > Vector3
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & jointBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, JointIndex joint_id)
Computes the regressor for the dynamic parameters of a rigid body attached to a given joint,...
void computeJointKinematicRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
void computeFrameKinematicRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
Eigen::Matrix< Scalar, 6, 10, Options > BodyRegressorType
The type of the body regressor.
void bodyRegressor(const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > ®ressor)
Computes the regressor for the dynamic parameters of a single rigid body.
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x & computeStaticRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the static regressor that links the center of mass positions of all the links to the center ...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate(const ModelTpl< Scalar
Integrate a configuration vector for the specified model for a tangent vector during one unit time.
Eigen::Matrix< Scalar, 1, Eigen::Dynamic, Options|Eigen::RowMajor > RowVectorXs
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sat Jun 22 2024 02:41:49