rnea-derivatives.hpp

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//
// Copyright (c) 2017-2019 CNRS INRIA
//

#ifndef __pinocchio_rnea_derivatives_hpp__
#define __pinocchio_rnea_derivatives_hpp__

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

#include "pinocchio/container/aligned-vector.hpp"

namespace pinocchio
{

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

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType>
  inline void
  computeStaticTorqueDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                 DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                 const Eigen::MatrixBase<ConfigVectorType> & q,
                                 const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
                                 const Eigen::MatrixBase<ReturnMatrixType> & static_torque_partial_dq);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2,
  typename MatrixType1, typename MatrixType2, typename MatrixType3>
  inline void
  computeRNEADerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                         DataTpl<Scalar,Options,JointCollectionTpl> & data,
                         const Eigen::MatrixBase<ConfigVectorType> & q,
                         const Eigen::MatrixBase<TangentVectorType1> & v,
                         const Eigen::MatrixBase<TangentVectorType2> & a,
                         const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
                         const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
                         const Eigen::MatrixBase<MatrixType3> & rnea_partial_da);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2,
  typename MatrixType1, typename MatrixType2, typename MatrixType3>
  inline void
  computeRNEADerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                         DataTpl<Scalar,Options,JointCollectionTpl> & data,
                         const Eigen::MatrixBase<ConfigVectorType> & q,
                         const Eigen::MatrixBase<TangentVectorType1> & v,
                         const Eigen::MatrixBase<TangentVectorType2> & a,
                         const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
                         const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
                         const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
                         const Eigen::MatrixBase<MatrixType3> & rnea_partial_da);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
  inline void
  computeRNEADerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                         DataTpl<Scalar,Options,JointCollectionTpl> & data,
                         const Eigen::MatrixBase<ConfigVectorType> & q,
                         const Eigen::MatrixBase<TangentVectorType1> & v,
                         const Eigen::MatrixBase<TangentVectorType2> & a)
  {
    computeRNEADerivatives(model,data,q.derived(),v.derived(),a.derived(),
                           data.dtau_dq, data.dtau_dv, data.M);
  }
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
  inline void
  computeRNEADerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                         DataTpl<Scalar,Options,JointCollectionTpl> & data,
                         const Eigen::MatrixBase<ConfigVectorType> & q,
                         const Eigen::MatrixBase<TangentVectorType1> & v,
                         const Eigen::MatrixBase<TangentVectorType2> & a,
                         const container::aligned_vector< ForceTpl<Scalar,Options> > & fext)
  {
    computeRNEADerivatives(model,data,q.derived(),v.derived(),a.derived(),fext,
                           data.dtau_dq, data.dtau_dv, data.M);
  }


} // namespace pinocchio 

#include "pinocchio/algorithm/rnea-derivatives.hxx"

#endif // ifndef __pinocchio_rnea_derivatives_hpp__