5 #ifndef __pinocchio_joint_basic_visitors_hpp__ 6 #define __pinocchio_joint_basic_visitors_hpp__ 8 #include "pinocchio/multibody/joint/fwd.hpp" 22 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
23 inline JointDataTpl<Scalar,Options,JointCollectionTpl>
24 createData(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
38 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename ConfigVectorType>
39 inline void calc_zero_order(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
40 JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
41 const Eigen::MatrixBase<ConfigVectorType> &
q);
56 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
57 inline void calc_first_order(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
58 JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
59 const Eigen::MatrixBase<ConfigVectorType> &
q,
60 const Eigen::MatrixBase<TangentVectorType> &
v);
74 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename Matrix6Type>
75 inline void calc_aba(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
76 JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
77 const Eigen::MatrixBase<Matrix6Type> & I,
88 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
89 inline int nv(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
101 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
102 inline int nq(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
113 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
114 inline const std::vector<bool>
hasConfigurationLimit(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
125 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
138 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
139 inline int idx_q(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
151 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
152 inline int idx_v(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
162 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
163 inline JointIndex id(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
176 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
177 inline void setIndexes(JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
JointIndex id,
int q,
int v);
185 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
186 inline std::string
shortname(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
197 template<
typename NewScalar,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
198 typename CastType< NewScalar,JointModelTpl<Scalar,Options,JointCollectionTpl> >
::type 199 cast_joint(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
209 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename JointModelDerived>
210 bool isEqual(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel_generic,
211 const JointModelBase<JointModelDerived> & jmodel);
222 template<
typename NewScalar,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename JointModelDerived>
223 bool hasSameIndexes(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel_generic,
224 const JointModelBase<JointModelDerived> & jmodel);
240 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
241 inline ConstraintTpl<Eigen::Dynamic,Scalar,Options>
242 constraint_xd(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
252 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
253 inline SE3Tpl<Scalar,Options>
254 joint_transform(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
264 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
265 inline MotionTpl<Scalar,Options>
266 motion(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
276 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
277 inline MotionTpl<Scalar,Options>
278 bias(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
288 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
289 inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
290 u_inertia(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
300 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
301 inline Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options>
302 dinv_inertia(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
312 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
313 inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
314 udinv_inertia(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
324 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename JointDataDerived>
325 bool isEqual(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jmodel_generic,
326 const JointDataBase<JointDataDerived> & jmodel);
336 #endif // ifndef __pinocchio_joint_basic_visitors_hpp__ JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
int nv(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space...
MotionTpl< Scalar, Options > motion(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion...
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corre...
int nq(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space...
JointDataTpl< Scalar, Options, JointCollectionTpl > createData(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through CreateData visitor to create a JointDataTpl.
SE3Tpl< Scalar, Options > joint_transform(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform bet...
JointIndex id(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > udinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix de...
const std::vector< bool > hasConfigurationLimitInTangent(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointConfigurationLimitInTangentVisitor to get the configurations limit...
bool hasSameIndexes(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel)
Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived.
bool isEqual(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel)
Visit a JointModelTpl<Scalar,...> to compare it to JointModelDerived.
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
std::string shortname(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > u_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposi...
Main pinocchio namespace.
const std::vector< bool > hasConfigurationLimit(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointConfigurationLimitVisitor to get the configurations limits...
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type cast_joint(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...>
void setIndexes(JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic...
MotionTpl< Scalar, Options > bias(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion.
void calc_first_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to comput...
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > dinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix d...
ConstraintTpl< Eigen::Dynamic, Scalar, Options > constraint_xd(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constr...
void calc_aba(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to...
void calc_zero_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute...