jacobian.hpp

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//
// Copyright (c) 2015-2019 CNRS INRIA
//

#ifndef __pinocchio_jacobian_hpp__
#define __pinocchio_jacobian_hpp__

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

namespace pinocchio
{
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
  computeJointJacobians(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>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
  computeJointJacobians(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                        DataTpl<Scalar,Options,JointCollectionTpl> & data);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6Like>
  inline void getJointJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                               const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                               const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointIndex jointId,
                               const ReferenceFrame rf,
                               const Eigen::MatrixBase<Matrix6Like> & J);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like>
  inline void computeJointJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                   DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                   const Eigen::MatrixBase<ConfigVectorType> & q,
                                   const JointIndex jointId,
                                   const Eigen::MatrixBase<Matrix6Like> & J);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like>
  PINOCCHIO_DEPRECATED
  inline void jointJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Eigen::MatrixBase<ConfigVectorType> & q,
                            const JointIndex jointId,
                            const Eigen::MatrixBase<Matrix6Like> & J)
  {
    computeJointJacobian(model,data,q,jointId,PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,J));
  }

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
  computeJointJacobiansTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                     DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                     const Eigen::MatrixBase<ConfigVectorType> & q,
                                     const Eigen::MatrixBase<TangentVectorType> & v);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6Like>
  inline void getJointJacobianTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                            const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                            const JointIndex jointId,
                                            const ReferenceFrame rf,
                                            const Eigen::MatrixBase<Matrix6Like> & dJ);
  
} // namespace pinocchio 

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/* --- Details -------------------------------------------------------------------- */

#include "pinocchio/algorithm/jacobian.hxx"

#endif // ifndef __pinocchio_jacobian_hpp__