#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/liegroup/liegroup.hpp"#include "pinocchio/algorithm/joint-configuration.hxx"
Include dependency graph for joint-configuration.hpp:
Go to the source code of this file.
Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
API with return value as argument | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType > | |
| void | pinocchio::integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout) |
| Integrate a configuration vector for the specified model for a tangent vector during one unit time. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType > | |
| void | pinocchio::integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout) |
| Integrate a configuration vector for the specified model for a tangent vector during one unit time. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType > | |
| void | pinocchio::interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u, const Eigen::MatrixBase< ReturnType > &qout) |
| Interpolate two configurations for a given model. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType > | |
| void | pinocchio::difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout) |
| Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType > | |
| void | pinocchio::difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout) |
| Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType > | |
| void | pinocchio::squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out) |
| Squared distance between two configuration vectors. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType > | |
| void | pinocchio::squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out) |
| Squared distance between two configuration vectors. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType > | |
| void | pinocchio::randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout) |
| Generate a configuration vector uniformly sampled among provided limits. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType > | |
| void | pinocchio::randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout) |
| Generate a configuration vector uniformly sampled among provided limits. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType > | |
| void | pinocchio::neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout) |
| Return the neutral configuration element related to the model configuration space. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType > | |
| void | pinocchio::neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout) |
| Return the neutral configuration element related to the model configuration space. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType > | |
| void | pinocchio::dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) |
| Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType > | |
| void | pinocchio::dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg) |
| Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType > | |
| void | pinocchio::dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg, const AssignmentOperatorType op) |
| Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 > | |
| void | pinocchio::dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg) |
| Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 > | |
| void | pinocchio::dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg) |
| Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType > | |
| void | pinocchio::dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg) |
| Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType > | |
| void | pinocchio::dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg) |
| Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix > | |
| void | pinocchio::dDifference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg) |
| Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix > | |
| void | pinocchio::dDifference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg) |
| Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| Scalar | pinocchio::squaredDistanceSum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1) |
| Overall squared distance between two configuration vectors. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| Scalar | pinocchio::squaredDistanceSum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1) |
Overall squared distance between two configuration vectors, namely  . More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| Scalar | pinocchio::distance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1) |
Distance between two configuration vectors, namely  . More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| Scalar | pinocchio::distance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1) |
| Distance between two configuration vectors. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| void | pinocchio::normalize (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout) |
| Normalize a configuration vector. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| void | pinocchio::normalize (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout) |
| Normalize a configuration vector. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| bool | pinocchio::isNormalized (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) |
| Check whether a configuration vector is normalized within the given precision provided by prec. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| bool | pinocchio::isNormalized (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) |
| Check whether a configuration vector is normalized within the given precision provided by prec. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| bool | pinocchio::isSameConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) |
| Return true if the given configurations are equivalents, within the given precision. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| bool | pinocchio::isSameConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) |
| Return true if the given configurations are equivalents, within the given precision. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix > | |
| void | pinocchio::integrateCoeffWiseJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< JacobianMatrix > &jacobian) |
| Return the Jacobian of the integrate function for the components of the config vector. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix > | |
| void | pinocchio::integrateCoeffWiseJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< JacobianMatrix > &jacobian) |
| Return the Jacobian of the integrate function for the components of the config vector. More... | |
API that allocates memory | |
| pinocchio::Options | |
| JointCollectionTpl & | pinocchio::model |
| JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & | pinocchio::q |
| JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & | pinocchio::v |
| JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > & | pinocchio::q0 |
| JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & | pinocchio::q1 |
| JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > const Scalar & | pinocchio::u |
| JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > & | pinocchio::lowerLimits |
| JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & | pinocchio::upperLimits |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType > | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorType) integrate(const ModelTpl< Scalar | |
| Integrate a configuration vector for the specified model for a tangent vector during one unit time. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType > | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorType) integrate(const ModelTpl< Scalar | |
| Integrate a configuration vector for the specified model for a tangent vector during one unit time. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorIn1) interpolate(const ModelTpl< Scalar | |
| Interpolate two configurations for a given model. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE (ConfigVectorIn1) difference(const ModelTpl< Scalar | |
| Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar | |
| Generate a configuration vector uniformly sampled among given limits. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 > | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar | |
| Generate a configuration vector uniformly sampled among provided limits. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar | |
| Generate a configuration vector uniformly sampled among the joint limits of the specified Model. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar | |
| Generate a configuration vector uniformly sampled among the joint limits of the specified Model. More... | |
| template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > | pinocchio::neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model) |
| Return the neutral configuration element related to the model configuration space. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > | pinocchio::neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model) |
| Return the neutral configuration element related to the model configuration space. More... | |