Namespaces | Functions
centroidal.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/centroidal.hxx"
Include dependency graph for centroidal.hpp:

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Namespaces

 pinocchio
 Main pinocchio namespace.
 

Functions

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6xpinocchio::ccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta according to the current joint configuration and velocity. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::Force & pinocchio::computeCentroidalDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::Force & pinocchio::computeCentroidalDynamics (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 Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6xpinocchio::computeCentroidalMap (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 Computes the Centroidal Momentum Matrix,. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6xpinocchio::computeCentroidalMapTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 Computes the Centroidal Momentum Matrix time derivative. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & pinocchio::computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & pinocchio::computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & pinocchio::computeCentroidalMomentumTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & pinocchio::computeCentroidalMomentumTimeVariation (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 Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6xpinocchio::dccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration and velocity vectors. More...
 


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autogenerated on Fri Jun 23 2023 02:38:33