act-on-set.hpp
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1 //
2 // Copyright (c) 2015-2018 CNRS
3 //
4 
5 #ifndef __pinocchio_act_on_set_hpp__
6 #define __pinocchio_act_on_set_hpp__
7 
8 #include "pinocchio/macros.hpp"
9 #include "pinocchio/spatial/fwd.hpp"
10 
11 namespace pinocchio
12 {
13 
14  namespace forceSet
15  {
20  template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
21  static void se3Action(const SE3Tpl<Scalar,Options> & m,
22  const Eigen::MatrixBase<Mat> & iF,
23  Eigen::MatrixBase<MatRet> const & jF);
24 
26  template<typename Scalar, int Options, typename Mat, typename MatRet>
27  static void se3Action(const SE3Tpl<Scalar,Options> & m,
28  const Eigen::MatrixBase<Mat> & iF,
29  Eigen::MatrixBase<MatRet> const & jF);
30 
35  template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
36  static void se3ActionInverse(const SE3Tpl<Scalar,Options> & m,
37  const Eigen::MatrixBase<Mat> & iF,
38  Eigen::MatrixBase<MatRet> const & jF);
39 
41  template<typename Scalar, int Options, typename Mat, typename MatRet>
42  static void se3ActionInverse(const SE3Tpl<Scalar,Options> & m,
43  const Eigen::MatrixBase<Mat> & iF,
44  Eigen::MatrixBase<MatRet> const & jF);
45 
50  template<int Op, typename MotionDerived, typename Mat, typename MatRet>
51  static void motionAction(const MotionDense<MotionDerived> & v,
52  const Eigen::MatrixBase<Mat> & iF,
53  Eigen::MatrixBase<MatRet> const & jF);
54 
56  template<typename MotionDerived, typename Mat, typename MatRet>
57  static void motionAction(const MotionDense<MotionDerived> & v,
58  const Eigen::MatrixBase<Mat> & iF,
59  Eigen::MatrixBase<MatRet> const & jF);
60 
61  } // namespace forceSet
62 
63  namespace motionSet
64  {
69  template<int Op, typename Scalar, int Options, typename Mat,typename MatRet>
70  static void se3Action(const SE3Tpl<Scalar,Options> & m,
71  const Eigen::MatrixBase<Mat> & iV,
72  Eigen::MatrixBase<MatRet> const & jV);
73 
75  template<typename Scalar, int Options, typename Mat,typename MatRet>
76  static void se3Action(const SE3Tpl<Scalar,Options> & m,
77  const Eigen::MatrixBase<Mat> & iV,
78  Eigen::MatrixBase<MatRet> const & jV);
79 
84  template<int Op, typename Scalar, int Options, typename Mat,typename MatRet>
85  static void se3ActionInverse(const SE3Tpl<Scalar,Options> & m,
86  const Eigen::MatrixBase<Mat> & iV,
87  Eigen::MatrixBase<MatRet> const & jV);
88 
90  template<typename Scalar, int Options, typename Mat,typename MatRet>
91  static void se3ActionInverse(const SE3Tpl<Scalar,Options> & m,
92  const Eigen::MatrixBase<Mat> & iV,
93  Eigen::MatrixBase<MatRet> const & jV);
94 
99  template<int Op, typename MotionDerived, typename Mat, typename MatRet>
100  static void motionAction(const MotionDense<MotionDerived> & v,
101  const Eigen::MatrixBase<Mat> & iF,
102  Eigen::MatrixBase<MatRet> const & jF);
103 
105  template<typename MotionDerived, typename Mat, typename MatRet>
106  static void motionAction(const MotionDense<MotionDerived> & v,
107  const Eigen::MatrixBase<Mat> & iF,
108  Eigen::MatrixBase<MatRet> const & jF);
109 
114  template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
115  static void inertiaAction(const InertiaTpl<Scalar,Options> & I,
116  const Eigen::MatrixBase<Mat> & iF,
117  Eigen::MatrixBase<MatRet> const & jF);
118 
120  template<typename Scalar, int Options, typename Mat, typename MatRet>
121  static void inertiaAction(const InertiaTpl<Scalar,Options> & I,
122  const Eigen::MatrixBase<Mat> & iF,
123  Eigen::MatrixBase<MatRet> const & jF);
124 
132  template<int Op, typename ForceDerived, typename Mat, typename MatRet>
133  static void act(const Eigen::MatrixBase<Mat> & iV,
134  const ForceDense<ForceDerived> & f,
135  Eigen::MatrixBase<MatRet> const & jF);
136 
138  template<typename ForceDerived, typename Mat, typename MatRet>
139  static void act(const Eigen::MatrixBase<Mat> & iV,
140  const ForceDense<ForceDerived> & f,
141  Eigen::MatrixBase<MatRet> const & jF);
142 
143  } // namespace MotionSet
144 
145 } // namespace pinocchio
146 
147 #include "pinocchio/spatial/act-on-set.hxx"
148 
149 #endif // ifndef __pinocchio_act_on_set_hpp__
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
static void inertiaAction(const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Default implementation with assignment operator=.
static void se3ActionInverse(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Inverse SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spat...
static void se3Action(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial forc...
static void act(const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF)
Default implementation with assignment operator=.
Main pinocchio namespace.
Definition: timings.cpp:28
static void motionAction(const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Action of a motion on a set of forces, represented by a 6xN matrix whose each column represent a spat...


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autogenerated on Fri Jun 23 2023 02:38:28