frames.hpp

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//
// Copyright (c) 2015-2020 CNRS INRIA
//

#ifndef __pinocchio_algorithm_frames_hpp__
#define __pinocchio_algorithm_frames_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"

namespace pinocchio
{

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline void updateFramePlacements(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                    DataTpl<Scalar,Options,JointCollectionTpl> & data);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::SE3 &
  updateFramePlacement(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                       DataTpl<Scalar,Options,JointCollectionTpl> & data,
                       const FrameIndex frame_id);


  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline void framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                      DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                      const Eigen::MatrixBase<ConfigVectorType> & q);

  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  PINOCCHIO_DEPRECATED
  inline void framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                      DataTpl<Scalar,Options,JointCollectionTpl> & data)
  {
    updateFramePlacements(model,data);
  }


  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline MotionTpl<Scalar, Options>
  getFrameVelocity(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                   const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                   const FrameIndex frame_id,
                   const ReferenceFrame rf = LOCAL);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline MotionTpl<Scalar, Options>
  getFrameAcceleration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                       const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                       const FrameIndex frame_id,
                       const ReferenceFrame rf = LOCAL);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline MotionTpl<Scalar, Options>
  getFrameClassicalAcceleration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                const FrameIndex frame_id,
                                const ReferenceFrame rf = LOCAL);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xLike>
  inline void getFrameJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                               DataTpl<Scalar,Options,JointCollectionTpl> & data,
                               const FrameIndex frame_id,
                               const ReferenceFrame rf,
                               const Eigen::MatrixBase<Matrix6xLike> & J);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike>
  inline void computeFrameJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                   DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                   const Eigen::MatrixBase<ConfigVectorType> & q,
                                   const FrameIndex frameId,
                                   const ReferenceFrame reference_frame,
                                   const Eigen::MatrixBase<Matrix6xLike> & J);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike>
  inline void computeFrameJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                   DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                   const Eigen::MatrixBase<ConfigVectorType> & q,
                                   const FrameIndex frameId,
                                   const Eigen::MatrixBase<Matrix6xLike> & J)
  {
    computeFrameJacobian(model,data,q.derived(),frameId,LOCAL,
                         PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike,J));
  }
                        
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike>
  PINOCCHIO_DEPRECATED
  inline void frameJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Eigen::MatrixBase<ConfigVectorType> & q,
                            const FrameIndex frameId,
                            const Eigen::MatrixBase<Matrix6xLike> & J)
  {
    computeFrameJacobian(model,data,q,frameId,PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike,J));
  }
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xLike>
  void getFrameJacobianTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                     DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                     const FrameIndex frame_id,
                                     const ReferenceFrame rf,
                                     const Eigen::MatrixBase<Matrix6xLike> & dJ);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  InertiaTpl<Scalar, Options>
  computeSupportedInertiaByFrame(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                 const FrameIndex frame_id,
                                 bool with_subtree);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  ForceTpl<Scalar, Options>
  computeSupportedForceByFrame(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                               const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                               const FrameIndex frame_id);

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/frames.hxx"

#endif // ifndef __pinocchio_algorithm_frames_hpp__