kinematics.hpp
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1 //
2 // Copyright (c) 2015-2019 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_kinematics_hpp__
6 #define __pinocchio_kinematics_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 
11 namespace pinocchio
12 {
13 
26  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
27  inline void updateGlobalPlacements(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
28  DataTpl<Scalar,Options,JointCollectionTpl> & data);
29 
40  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
41  inline void forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
42  DataTpl<Scalar,Options,JointCollectionTpl> & data,
43  const Eigen::MatrixBase<ConfigVectorType> & q);
44 
57  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
58  inline void forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
59  DataTpl<Scalar,Options,JointCollectionTpl> & data,
60  const Eigen::MatrixBase<ConfigVectorType> & q,
61  const Eigen::MatrixBase<TangentVectorType> & v);
76  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
77  inline void forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
78  DataTpl<Scalar,Options,JointCollectionTpl> & data,
79  const Eigen::MatrixBase<ConfigVectorType> & q,
80  const Eigen::MatrixBase<TangentVectorType1> & v,
81  const Eigen::MatrixBase<TangentVectorType2> & a);
82 
96  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
97  inline MotionTpl<Scalar, Options>
98  getVelocity(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
99  const DataTpl<Scalar,Options,JointCollectionTpl> & data,
100  const JointIndex jointId,
101  const ReferenceFrame rf = LOCAL);
102 
116  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
117  inline MotionTpl<Scalar, Options>
118  getAcceleration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
119  const DataTpl<Scalar,Options,JointCollectionTpl> & data,
120  const JointIndex jointId,
121  const ReferenceFrame rf = LOCAL);
122 
137  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
138  inline MotionTpl<Scalar, Options>
139  getClassicalAcceleration(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
140  const DataTpl<Scalar,Options,JointCollectionTpl> & data,
141  const JointIndex jointId,
142  const ReferenceFrame rf = LOCAL);
143 
144 } // namespace pinocchio
145 
146 /* --- Details -------------------------------------------------------------------- */
147 /* --- Details -------------------------------------------------------------------- */
148 /* --- Details -------------------------------------------------------------------- */
149 #include "pinocchio/algorithm/kinematics.hxx"
150 
151 
152 #endif // ifndef __pinocchio_kinematics_hpp__
pinocchio::v
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
Definition: joint-configuration.hpp:746
pinocchio::ReferenceFrame
ReferenceFrame
List of Reference Frames supported by Pinocchio.
Definition: src/multibody/fwd.hpp:44
pinocchio::q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
Definition: joint-configuration.hpp:746
pinocchio::forwardKinematics
void forwardKinematics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Update the joint placements according to the current joint configuration.
pinocchio::getClassicalAcceleration
MotionTpl< Scalar, Options > getClassicalAcceleration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
Returns the "classical" acceleration of the joint expressed in the desired reference frame...
pinocchio::updateGlobalPlacements
void updateGlobalPlacements(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Update the global placement of the joints oMi according to the relative placements of the joints...
pinocchio::LOCAL
The LOCAL frame convention corresponds to the frame directly attached to the moving part (Joint...
Definition: src/multibody/fwd.hpp:47
a
Vec3f a
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:28
pinocchio::JointIndex
Index JointIndex
Definition: src/multibody/fwd.hpp:28
pinocchio::getAcceleration
MotionTpl< Scalar, Options > getAcceleration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
Returns the spatial acceleration of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.
pinocchio::model
JointCollectionTpl & model
Definition: joint-configuration.hpp:746
pinocchio::getVelocity
MotionTpl< Scalar, Options > getVelocity(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
Returns the spatial velocity of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.

pinocchio
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autogenerated on Fri Jun 23 2023 02:38:31