5 #ifndef __pinocchio_aba_derivatives_hpp__ 6 #define __pinocchio_aba_derivatives_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/data.hpp" 37 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2,
38 typename MatrixType1,
typename MatrixType2,
typename MatrixType3>
40 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
41 const Eigen::MatrixBase<ConfigVectorType> &
q,
42 const Eigen::MatrixBase<TangentVectorType1> &
v,
43 const Eigen::MatrixBase<TangentVectorType2> &
tau,
44 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
45 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
46 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
72 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2,
73 typename MatrixType1,
typename MatrixType2,
typename MatrixType3>
75 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
76 const Eigen::MatrixBase<ConfigVectorType> &
q,
77 const Eigen::MatrixBase<TangentVectorType1> &
v,
78 const Eigen::MatrixBase<TangentVectorType2> &
tau,
79 const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
80 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
81 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
82 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
104 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
107 const Eigen::MatrixBase<ConfigVectorType> &
q,
108 const Eigen::MatrixBase<TangentVectorType1> &
v,
109 const Eigen::MatrixBase<TangentVectorType2> &
tau)
136 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
139 const Eigen::MatrixBase<ConfigVectorType> &
q,
140 const Eigen::MatrixBase<TangentVectorType1> &
v,
141 const Eigen::MatrixBase<TangentVectorType2> &
tau,
151 #include "pinocchio/algorithm/aba-derivatives.hxx" 153 #endif // ifndef __pinocchio_aba_derivatives_hpp__ JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
RowMatrixXs Minv
The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
MatrixXs ddq_dq
Partial derivative of the joint acceleration vector with respect to the joint configuration.
Specialization of an std::vector with an aligned allocator. This specialization might be used when th...
MatrixXs ddq_dv
Partial derivative of the joint acceleration vector with respect to the joint velocity.
Main pinocchio namespace.
void computeABADerivatives(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 > &tau, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
The derivatives of the Articulated-Body algorithm.
JointCollectionTpl & model