5 #ifndef __pinocchio_act_on_set_hpp__ 6 #define __pinocchio_act_on_set_hpp__ 8 #include "pinocchio/macros.hpp" 9 #include "pinocchio/spatial/fwd.hpp" 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);
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);
35 template<
int Op,
typename Scalar,
int Options,
typename Mat,
typename MatRet>
37 const Eigen::MatrixBase<Mat> & iF,
38 Eigen::MatrixBase<MatRet>
const & jF);
41 template<
typename Scalar,
int Options,
typename Mat,
typename MatRet>
43 const Eigen::MatrixBase<Mat> & iF,
44 Eigen::MatrixBase<MatRet>
const & jF);
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);
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);
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);
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);
84 template<
int Op,
typename Scalar,
int Options,
typename Mat,
typename MatRet>
86 const Eigen::MatrixBase<Mat> & iV,
87 Eigen::MatrixBase<MatRet>
const & jV);
90 template<
typename Scalar,
int Options,
typename Mat,
typename MatRet>
92 const Eigen::MatrixBase<Mat> & iV,
93 Eigen::MatrixBase<MatRet>
const & jV);
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);
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);
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);
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);
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);
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);
147 #include "pinocchio/spatial/act-on-set.hxx" 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.
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...