#include <data.hpp>

Inheritance diagram for pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >:

Public Types
enum	{ Options = _Options }

typedef Eigen::Matrix< Scalar, 6, 10, Options >	BodyRegressorType
	The type of the body regressor. More...

typedef VectorXs	ConfigVectorType
	Dense vectorized version of a joint configuration vector. More...

typedef ForceTpl< Scalar, Options >	Force

typedef FrameTpl< Scalar, Options >	Frame

typedef pinocchio::FrameIndex	FrameIndex

typedef pinocchio::GeomIndex	GeomIndex

typedef pinocchio::Index	Index

typedef std::vector< Index >	IndexVector

typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointDataTpl< Scalar, Options, JointCollectionTpl >	JointData

typedef pinocchio::JointIndex	JointIndex

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModel

typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options >	Matrix3x
	The 3d jacobian type (temporary) More...

typedef Eigen::Matrix< Scalar, 6, 6, Options >	Matrix6

typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	Matrix6x
	The 6d jacobian type (temporary) More...

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXs

typedef ModelTpl< Scalar, Options, JointCollectionTpl >	Model

typedef MotionTpl< Scalar, Options >	Motion

typedef Eigen::Matrix< Scalar, 6, 6, Eigen::RowMajor\|Options >	RowMatrix6

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor\|Options >	RowMatrixXs

typedef SE3Tpl< Scalar, Options >	SE3

typedef VectorXs	TangentVectorType
	Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc). More...

typedef Tensor< Scalar, 3, Options >	Tensor3x
	. More...

typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3

typedef Eigen::Matrix< Scalar, 6, 1, Options >	Vector6c

typedef Eigen::Matrix< Scalar, 1, 6, Eigen::RowMajor\|Options >	Vector6r

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs

Public Member Functions
	DataTpl (const Model &model)
	Default constructor of pinocchio::Data from a pinocchio::Model. More...

	DataTpl ()
	Default constructor. More...

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector

	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a
	Vector of joint accelerations expressed at the centers of the joints frames. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa
	Vector of joint accelerations expressed at the origin of the world. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_gf
	Vector of joint accelerations due to the gravity field. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_gf
	Vector of joint accelerations expressed at the origin of the world including gravity contribution. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) v
	Vector of joint velocities expressed at the centers of the joints. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) ov
	Vector of joint velocities expressed at the origin. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Force) f
	Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Force) of
	Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Force) h
	Vector of spatial momenta expressed in the local frame of the joint. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Force) oh
	Vector of spatial momenta expressed in the world frame. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMi
	Vector of absolute joint placements (wrt the world). More...

	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) liMi
	Vector of relative joint placements (wrt the body parent). More...

	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMf
	Vector of absolute operationnel frame placements (wrt the world). More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) Ycrb
	Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint.. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) dYcrb
	Vector of sub-tree composite rigid body inertia time derivatives $\dot{Y}_{crb}$ . See Data::Ycrb for more details. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) vxI
	Right variation of the inertia matrix. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Ivx
	Left variation of the inertia matrix. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) B
	Combined variations of the inertia matrix $B_i = \frac{1}{2} [(v_i\times∗)I_i + (I_i v_i)\times^{∗} − I_i(v_i\times)]$ consistent with Christoffel symbols. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oinertias
	Rigid Body Inertia supported by the joint expressed in the world frame. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oYcrb
	Composite Rigid Body Inertia expressed in the world frame. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) doYcrb
	Time variation of Composite Rigid Body Inertia expressed in the world frame. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Yaba
	Inertia matrix of the subtree expressed as dense matrix [ABA]. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x) Fcrb
	Spatial forces set, used in CRBA and CCRBA. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) iMf
	Vector of joint placements wrt to algorithm end effector. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) com
	Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint and expressed in the joint frame . The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) vcom
	Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint and expressed in the joint frame . The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) acom
	Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint and expressed in the joint frame . The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame. More...

Public Member Functions inherited from pinocchio::serialization::Serializable< DataTpl< _Scalar, _Options, JointCollectionTpl > >
void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file. More...

void	loadFromBinary (boost::asio::streambuf &container)
	Loads a Derived object from a binary container. More...

void	loadFromBinary (StaticBuffer &container)
	Loads a Derived object from a static binary container. More...

void	loadFromString (const std::string &str)
	Loads a Derived object from a string. More...

void	loadFromStringStream (std::istringstream &is)
	Loads a Derived object from a stream string. More...

void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file. More...

void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file. More...

void	saveToBinary (const std::string &filename) const
	Saves a Derived object as an binary file. More...

void	saveToBinary (boost::asio::streambuf &container) const
	Saves a Derived object as a binary container. More...

void	saveToBinary (StaticBuffer &container) const
	Saves a Derived object as a static binary container. More...

std::string	saveToString () const
	Saves a Derived object to a string. More...

void	saveToStringStream (std::stringstream &ss) const
	Saves a Derived object to a string stream. More...

void	saveToText (const std::string &filename) const
	Saves a Derived object as a text file. More...

void	saveToXML (const std::string &filename, const std::string &tag_name) const
	Saves a Derived object as an XML file. More...

Public Attributes
Matrix6x	Ag
	Centroidal Momentum Matrix. More...

BodyRegressorType	bodyRegressor
	Body regressor. More...

MatrixXs	C
	The Coriolis matrix (a square matrix of dim model.nv). More...

VectorXs	D
	Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition. More...

Tensor3x	d2tau_dadq
	SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration. More...

Tensor3x	d2tau_dqdq
	SO Partial derivative of the joint torque vector with respect to the joint configuration. More...

Tensor3x	d2tau_dqdv
	SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity. More...

Tensor3x	d2tau_dvdv
	SO Partial derivative of the joint torque vector with respect to the joint velocity. More...

Matrix6x	dAdq
	Variation of the spatial acceleration set with respect to the joint configuration. More...

Matrix6x	dAdv
	Variation of the spatial acceleration set with respect to the joint velocity. More...

Matrix6x	dAg
	Centroidal Momentum Matrix Time Variation. More...

Matrix6x	ddJ
	Second derivative of the Jacobian with respect to the time. More...

TangentVectorType	ddq
	The joint accelerations computed from ABA. More...

MatrixXs	ddq_dq
	Partial derivative of the joint acceleration vector with respect to the joint configuration. More...

MatrixXs	ddq_dv
	Partial derivative of the joint acceleration vector with respect to the joint velocity. More...

Matrix6x	dFda
	Variation of the forceset with respect to the joint acceleration. More...

Matrix6x	dFdq
	Variation of the forceset with respect to the joint configuration. More...

Matrix6x	dFdv
	Variation of the forceset with respect to the joint velocity. More...

Matrix6x	dHdq
	Variation of the spatial momenta with respect to the joint configuration. More...

Force	dhg
	Centroidal momentum time derivative. More...

VectorXs	Dinv
	Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition. More...

Matrix6x	dJ
	Derivative of the Jacobian with respect to the time. More...

TangentVectorType	dq_after
	Generalized velocity after impact. More...

MatrixXs	dtau_dq
	Partial derivative of the joint torque vector with respect to the joint configuration. More...

MatrixXs	dtau_dv
	Partial derivative of the joint torque vector with respect to the joint velocity. More...

Matrix6x	dVdq
	Variation of the spatial velocity set with respect to the joint configuration. More...

std::vector< int >	end_idx_v_fromRow
	End index of the Joint motion subspace. More...

VectorXs	g
	Vector of generalized gravity (dim model.nv). More...

Force	hg
	Centroidal momentum quantity. More...

Inertia	Ig
	Centroidal Composite Rigid Body Inertia. More...

VectorXs	impulse_c
	Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics. More...

Matrix6x	IS
	Used in computeMinverse. More...

Matrix6	Itmp
	Temporary for derivative algorithms. More...

Matrix6x	J
	Jacobian of joint placements. More...

Matrix3x	Jcom
	Jacobian of center of mass. More...

MatrixXs	JMinvJt
	Inverse of the operational-space inertia matrix. More...

JointDataVector	joints
	Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor. More...

MatrixXs	jointTorqueRegressor
	Matrix related to joint torque regressor. More...

Tensor3x	kinematic_hessians
	Tensor containing the kinematic Hessian of all the joints. More...

Scalar	kinetic_energy
	Kinetic energy of the model. More...

VectorXs	lambda_c
	Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics. More...

std::vector< int >	lastChild
	Index of the last child (for CRBA) More...

Eigen::LLT< MatrixXs >	llt_JMinvJt
	Cholesky decompostion of . More...

MatrixXs	M
	The joint space inertia matrix (a square matrix of dim model.nv). More...

Matrix6	M6tmp
	Temporary for derivative algorithms. More...

RowMatrix6	M6tmpR

RowMatrix6	M6tmpR2

std::vector< Scalar >	mass
	Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint . The element mass[0] corresponds to the total mass of the model. More...

RowMatrixXs	Minv
	The inverse of the joint space inertia matrix (a square matrix of dim model.nv). More...

VectorXs	nle
	Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects. More...

std::vector< int >	nvSubtree
	Dimension of the subtree motion space (for CRBA) More...

std::vector< int >	nvSubtree_fromRow
	Subtree of the current row index (used in Cholesky Decomposition). More...

std::vector< int >	parents_fromRow
	First previous non-zero row in M (used in Cholesky Decomposition). More...

Scalar	potential_energy
	Potential energy of the model. More...

Matrix6x	psid
	psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj More...

Matrix6x	psidd
	psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Matrix6x	SDinv
	Used in computeMinverse. More...

MatrixXs	sDUiJt
	Temporary corresponding to $\sqrt{D} U^{-1} J^{\top}$ . More...

std::vector< int >	start_idx_v_fromRow
	Starting index of the Joint motion subspace. More...

Matrix3x	staticRegressor
	Matrix related to static regressor. More...

std::vector< std::vector< int > >	supports_fromRow
	Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it. More...

TangentVectorType	tau
	Vector of joint torques (dim model.nv). More...

VectorXs	tmp
	Temporary of size NV used in Cholesky Decomposition. More...

VectorXs	torque_residual
	Temporary corresponding to the residual torque $\tau - b(q,\dot{q})$ . More...

TangentVectorType	u
	Intermediate quantity corresponding to apparent torque [ABA]. More...

MatrixXs	U
	Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition. More...

Matrix6x	UDinv
	Used in computeMinverse. More...

Private Member Functions
void	computeLastChild (const Model &model)

void	computeParents_fromRow (const Model &model)

void	computeSupports_fromRow (const Model &model)

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 29 of file src/multibody/data.hpp.

Member Typedef Documentation

◆ BodyRegressorType

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,6,10,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::BodyRegressorType

The type of the body regressor.

Definition at line 82 of file src/multibody/data.hpp.

◆ ConfigVectorType

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ConfigVectorType

Dense vectorized version of a joint configuration vector.

Definition at line 66 of file src/multibody/data.hpp.

◆ Force

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef ForceTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Force

Definition at line 43 of file src/multibody/data.hpp.

◆ Frame

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef FrameTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Frame

Definition at line 45 of file src/multibody/data.hpp.

◆ FrameIndex

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::FrameIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::FrameIndex

Definition at line 50 of file src/multibody/data.hpp.

◆ GeomIndex

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::GeomIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::GeomIndex

Definition at line 49 of file src/multibody/data.hpp.

◆ Index

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::Index pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Index

Definition at line 47 of file src/multibody/data.hpp.

◆ IndexVector

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef std::vector<Index> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::IndexVector

Definition at line 51 of file src/multibody/data.hpp.

◆ Inertia

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef InertiaTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Inertia

Definition at line 44 of file src/multibody/data.hpp.

◆ JointCollection

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef JointCollectionTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointCollection

Definition at line 37 of file src/multibody/data.hpp.

◆ JointData

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef JointDataTpl<Scalar,Options,JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointData

Definition at line 54 of file src/multibody/data.hpp.

◆ JointIndex

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::JointIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointIndex

Definition at line 48 of file src/multibody/data.hpp.

◆ JointModel

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef JointModelTpl<Scalar,Options,JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointModel

Definition at line 53 of file src/multibody/data.hpp.

◆ Matrix3x

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,3,Eigen::Dynamic,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix3x

The 3d jacobian type (temporary)

Definition at line 75 of file src/multibody/data.hpp.

◆ Matrix6

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,6,6,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix6

Definition at line 77 of file src/multibody/data.hpp.

◆ Matrix6x

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix6x

The 6d jacobian type (temporary)

Definition at line 73 of file src/multibody/data.hpp.

◆ MatrixXs

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::MatrixXs

Definition at line 59 of file src/multibody/data.hpp.

◆ Model

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef ModelTpl<Scalar,Options,JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Model

Definition at line 39 of file src/multibody/data.hpp.

◆ Motion

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef MotionTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Motion

Definition at line 42 of file src/multibody/data.hpp.

◆ RowMatrix6

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,6,6,Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::RowMatrix6

Definition at line 78 of file src/multibody/data.hpp.

◆ RowMatrixXs

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::RowMatrixXs

Definition at line 79 of file src/multibody/data.hpp.

◆ SE3

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef SE3Tpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::SE3

Definition at line 41 of file src/multibody/data.hpp.

◆ TangentVectorType

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::TangentVectorType

Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).

Definition at line 70 of file src/multibody/data.hpp.

◆ Tensor3x

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Tensor<Scalar,3,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Tensor3x

.

The type of Tensor for Kinematics and Dynamics second order derivatives

Definition at line 85 of file src/multibody/data.hpp.

◆ Vector3

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,3,1,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector3

Definition at line 61 of file src/multibody/data.hpp.

◆ Vector6c

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar, 6, 1, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector6c

Definition at line 62 of file src/multibody/data.hpp.

◆ Vector6r

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar, 1, 6, Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector6r

Definition at line 63 of file src/multibody/data.hpp.

◆ VectorXs

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::VectorXs

Definition at line 60 of file src/multibody/data.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

anonymous enum

Enumerator
Options

Definition at line 35 of file src/multibody/data.hpp.

Constructor & Destructor Documentation

◆ DataTpl() [1/2]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::DataTpl ( const Model & model )

explicit

Default constructor of pinocchio::Data from a pinocchio::Model.

Parameters

[in] model The model structure of the rigid body system.

◆ DataTpl() [2/2]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::DataTpl ( )

inline

Default constructor.

Definition at line 408 of file src/multibody/data.hpp.

Member Function Documentation

◆ computeLastChild()

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

void pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::computeLastChild ( const Model & model )

private

◆ computeParents_fromRow()

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

void pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::computeParents_fromRow ( const Model & model )

private

◆ computeSupports_fromRow()

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

void pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::computeSupports_fromRow ( const Model & model )

private

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( JointModel )

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( JointData )

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [3/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Motion )

Vector of joint accelerations expressed at the centers of the joints frames.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [4/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Motion )

Vector of joint accelerations expressed at the origin of the world.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [5/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Motion )

Vector of joint accelerations due to the gravity field.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [6/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Motion )

Vector of joint accelerations expressed at the origin of the world including gravity contribution.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [7/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Motion )

Vector of joint velocities expressed at the centers of the joints.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [8/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Motion )

Vector of joint velocities expressed at the origin.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [9/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Force )

Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [10/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Force )

Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [11/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Force )

Vector of spatial momenta expressed in the local frame of the joint.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [12/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Force )

Vector of spatial momenta expressed in the world frame.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [13/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( SE3 )

Vector of absolute joint placements (wrt the world).

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [14/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( SE3 )

Vector of relative joint placements (wrt the body parent).

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [15/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( SE3 )

Vector of absolute operationnel frame placements (wrt the world).

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [16/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Inertia )

Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [17/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Matrix6 )

Vector of sub-tree composite rigid body inertia time derivatives $\dot{Y}_{crb}$ . See Data::Ycrb for more details.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [18/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Matrix6 )

Right variation of the inertia matrix.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [19/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Matrix6 )

Left variation of the inertia matrix.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [20/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Matrix6 )

Combined variations of the inertia matrix $B_i = \frac{1}{2} [(v_i\times∗)I_i + (I_i v_i)\times^{∗} − I_i(v_i\times)]$ consistent with Christoffel symbols.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [21/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Inertia )

Rigid Body Inertia supported by the joint expressed in the world frame.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [22/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Inertia )

Composite Rigid Body Inertia expressed in the world frame.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [23/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Matrix6 )

Time variation of Composite Rigid Body Inertia expressed in the world frame.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [24/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Matrix6 )

Inertia matrix of the subtree expressed as dense matrix [ABA].

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [25/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Matrix6x )

Spatial forces set, used in CRBA and CCRBA.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [26/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( SE3 )

Vector of joint placements wrt to algorithm end effector.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [27/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Vector3 )

Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint $ j $ and expressed in the joint frame $ j $ . The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [28/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Vector3 )

Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint $ j $ and expressed in the joint frame $ j $ . The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [29/29]

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Vector3 )

Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint $ j $ and expressed in the joint frame $ j $ . The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.

Member Data Documentation

◆ Ag

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Ag

Centroidal Momentum Matrix.

Note: $hg = A_g \dot{q}$ maps the joint velocity set to the centroidal momentum.

Definition at line 221 of file src/multibody/data.hpp.

◆ bodyRegressor

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

BodyRegressorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::bodyRegressor

Body regressor.

Definition at line 372 of file src/multibody/data.hpp.

◆ C

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::C

The Coriolis matrix (a square matrix of dim model.nv).

Definition at line 159 of file src/multibody/data.hpp.

◆ D

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::D

Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition.

Definition at line 263 of file src/multibody/data.hpp.

◆ d2tau_dadq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dadq

SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration.

Definition at line 396 of file src/multibody/data.hpp.

◆ d2tau_dqdq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dqdq

SO Partial derivative of the joint torque vector with respect to the joint configuration.

Definition at line 382 of file src/multibody/data.hpp.

◆ d2tau_dqdv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dqdv

SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity.

Definition at line 390 of file src/multibody/data.hpp.

◆ d2tau_dvdv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dvdv

SO Partial derivative of the joint torque vector with respect to the joint velocity.

Definition at line 386 of file src/multibody/data.hpp.

◆ dAdq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAdq

Variation of the spatial acceleration set with respect to the joint configuration.

Definition at line 303 of file src/multibody/data.hpp.

◆ dAdv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAdv

Variation of the spatial acceleration set with respect to the joint velocity.

Definition at line 306 of file src/multibody/data.hpp.

◆ dAg

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAg

Centroidal Momentum Matrix Time Variation.

Note: $\dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}$ maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.

Definition at line 226 of file src/multibody/data.hpp.

◆ ddJ

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddJ

Second derivative of the Jacobian with respect to the time.

Definition at line 289 of file src/multibody/data.hpp.

◆ ddq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq

The joint accelerations computed from ABA.

Definition at line 209 of file src/multibody/data.hpp.

◆ ddq_dq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq_dq

Partial derivative of the joint acceleration vector with respect to the joint configuration.

Definition at line 315 of file src/multibody/data.hpp.

◆ ddq_dv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq_dv

Partial derivative of the joint acceleration vector with respect to the joint velocity.

Definition at line 318 of file src/multibody/data.hpp.

◆ dFda

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFda

Variation of the forceset with respect to the joint acceleration.

Definition at line 171 of file src/multibody/data.hpp.

◆ dFdq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFdq

Variation of the forceset with respect to the joint configuration.

Definition at line 165 of file src/multibody/data.hpp.

◆ dFdv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFdv

Variation of the forceset with respect to the joint velocity.

Definition at line 168 of file src/multibody/data.hpp.

◆ dHdq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dHdq

Variation of the spatial momenta with respect to the joint configuration.

Definition at line 162 of file src/multibody/data.hpp.

◆ dhg

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Force pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dhg

Centroidal momentum time derivative.

Note: The centroidal momentum time derivative is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).; $\dot{h_g} = \left( m\ddot{c}, \dot{L}_{g} \right);$ . $\dot{h_g}$ is the stack of the linear momentum variation and the angular momemtum variation.

Definition at line 238 of file src/multibody/data.hpp.

◆ Dinv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Dinv

Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition.

Definition at line 266 of file src/multibody/data.hpp.

◆ dJ

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dJ

Derivative of the Jacobian with respect to the time.

Definition at line 286 of file src/multibody/data.hpp.

◆ dq_after

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dq_after

Generalized velocity after impact.

Definition at line 363 of file src/multibody/data.hpp.

◆ dtau_dq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dtau_dq

Partial derivative of the joint torque vector with respect to the joint configuration.

Definition at line 309 of file src/multibody/data.hpp.

◆ dtau_dv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dtau_dv

Partial derivative of the joint torque vector with respect to the joint velocity.

Definition at line 312 of file src/multibody/data.hpp.

◆ dVdq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dVdq

Variation of the spatial velocity set with respect to the joint configuration.

Definition at line 300 of file src/multibody/data.hpp.

◆ end_idx_v_fromRow

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::end_idx_v_fromRow

End index of the Joint motion subspace.

Definition at line 257 of file src/multibody/data.hpp.

◆ g

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::g

Vector of generalized gravity (dim model.nv).

Note: In the multibody dynamics equation $M\ddot{q} + c(q, \dot{q}) + g(q) = \tau$ , the gravity effect is associated to the term.

Definition at line 140 of file src/multibody/data.hpp.

◆ hg

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Force pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::hg

Centroidal momentum quantity.

Note: The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).; $h_g = \left( m\dot{c}, L_{g} \right);$ . is the stack of the linear momentum and the angular momemtum vectors.

Definition at line 232 of file src/multibody/data.hpp.

◆ Ig

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Inertia pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Ig

Centroidal Composite Rigid Body Inertia.

Note: $hg = Ig v_{\text{mean}}$ map a mean velocity to the current centroidal momentum quantity.

Definition at line 242 of file src/multibody/data.hpp.

◆ impulse_c

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::impulse_c

Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.

Definition at line 366 of file src/multibody/data.hpp.

◆ IS

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::IS

Used in computeMinverse.

Definition at line 180 of file src/multibody/data.hpp.

◆ Itmp

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Itmp

Temporary for derivative algorithms.

Definition at line 201 of file src/multibody/data.hpp.

◆ J

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::J

Jacobian of joint placements.

Note: The columns of J corresponds to the basis of the spatial velocities of each joint and expressed at the origin of the inertial frame. In other words, if $v_{J_{i}} = S_{i} \dot{q}_{i}$ is the relative velocity of the joint i regarding to its parent, then $J = \begin{bmatrix} ^{0}X_{1} S_{1} & \cdots & ^{0}X_{i} S_{i} & \cdots & ^{0}X_{\text{nj}} S_{\text{nj}} \end{bmatrix}$ . This Jacobian has no special meaning. To get the jacobian of a precise joint, you need to call pinocchio::getJointJacobian

Definition at line 283 of file src/multibody/data.hpp.

◆ Jcom

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Jcom

Jacobian of center of mass.

Note: This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertial frame. In other words, $v_{\text{CoM}} = J_{\text{CoM}} \dot{q}$ .

Definition at line 337 of file src/multibody/data.hpp.

◆ JMinvJt

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JMinvJt

Inverse of the operational-space inertia matrix.

Definition at line 348 of file src/multibody/data.hpp.

◆ joints

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

JointDataVector pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::joints

Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.

Definition at line 89 of file src/multibody/data.hpp.

◆ jointTorqueRegressor

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::jointTorqueRegressor

Matrix related to joint torque regressor.

Definition at line 375 of file src/multibody/data.hpp.

◆ kinematic_hessians

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::kinematic_hessians

Tensor containing the kinematic Hessian of all the joints.

Definition at line 378 of file src/multibody/data.hpp.

◆ kinetic_energy

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::kinetic_energy

Kinetic energy of the model.

Definition at line 340 of file src/multibody/data.hpp.

◆ lambda_c

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::lambda_c

Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.

Definition at line 354 of file src/multibody/data.hpp.

◆ lastChild

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::lastChild

Index of the last child (for CRBA)

Definition at line 248 of file src/multibody/data.hpp.

◆ llt_JMinvJt

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Eigen::LLT<MatrixXs> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::llt_JMinvJt

Cholesky decompostion of $JMinvJt$ .

Definition at line 351 of file src/multibody/data.hpp.

◆ M

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M

The joint space inertia matrix (a square matrix of dim model.nv).

Definition at line 153 of file src/multibody/data.hpp.

◆ M6tmp

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmp

Temporary for derivative algorithms.

Definition at line 204 of file src/multibody/data.hpp.

◆ M6tmpR

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

RowMatrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmpR

Definition at line 205 of file src/multibody/data.hpp.

◆ M6tmpR2

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

RowMatrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmpR2

Definition at line 206 of file src/multibody/data.hpp.

◆ mass

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<Scalar> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::mass

Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint $ j $ . The element mass[0] corresponds to the total mass of the model.

Definition at line 333 of file src/multibody/data.hpp.

◆ Minv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Minv

The inverse of the joint space inertia matrix (a square matrix of dim model.nv).

Definition at line 156 of file src/multibody/data.hpp.

◆ nle

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nle

Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.

Note: In the multibody dynamics equation $M\ddot{q} + b(q, \dot{q}) = \tau$ , the non linear effects are associated to the term .

Definition at line 135 of file src/multibody/data.hpp.

◆ nvSubtree

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nvSubtree

Dimension of the subtree motion space (for CRBA)

Definition at line 251 of file src/multibody/data.hpp.

◆ nvSubtree_fromRow

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nvSubtree_fromRow

Subtree of the current row index (used in Cholesky Decomposition).

Definition at line 279 of file src/multibody/data.hpp.

◆ parents_fromRow

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::parents_fromRow

First previous non-zero row in M (used in Cholesky Decomposition).

Definition at line 272 of file src/multibody/data.hpp.

◆ potential_energy

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::potential_energy

Potential energy of the model.

Definition at line 343 of file src/multibody/data.hpp.

◆ psid

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::psid

psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj

Definition at line 293 of file src/multibody/data.hpp.

◆ psidd

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::psidd

psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj

Definition at line 297 of file src/multibody/data.hpp.

◆ Scalar

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Scalar

Definition at line 34 of file src/multibody/data.hpp.

◆ SDinv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::SDinv

Used in computeMinverse.

Definition at line 174 of file src/multibody/data.hpp.

◆ sDUiJt

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::sDUiJt

Temporary corresponding to $\sqrt{D} U^{-1} J^{\top}$ .

Definition at line 357 of file src/multibody/data.hpp.

◆ start_idx_v_fromRow

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::start_idx_v_fromRow

Starting index of the Joint motion subspace.

Definition at line 254 of file src/multibody/data.hpp.

◆ staticRegressor

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::staticRegressor

Matrix related to static regressor.

Definition at line 369 of file src/multibody/data.hpp.

◆ supports_fromRow

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector< std::vector<int> > pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::supports_fromRow

Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it.

Definition at line 276 of file src/multibody/data.hpp.

◆ tau

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::tau

Vector of joint torques (dim model.nv).

Definition at line 130 of file src/multibody/data.hpp.

◆ tmp

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::tmp

Temporary of size NV used in Cholesky Decomposition.

Definition at line 269 of file src/multibody/data.hpp.

◆ torque_residual

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::torque_residual

Temporary corresponding to the residual torque $\tau - b(q,\dot{q})$ .

Definition at line 360 of file src/multibody/data.hpp.

◆ u

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::u

Intermediate quantity corresponding to apparent torque [ABA].

Definition at line 216 of file src/multibody/data.hpp.

◆ U

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::U

Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.

Definition at line 260 of file src/multibody/data.hpp.

◆ UDinv

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::UDinv

Used in computeMinverse.

Definition at line 177 of file src/multibody/data.hpp.

The documentation for this struct was generated from the following file:

src/multibody/data.hpp

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl> struct pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >

Member Typedef Documentation

◆ BodyRegressorType

◆ ConfigVectorType

◆ Force

◆ Frame

◆ FrameIndex

◆ GeomIndex

◆ Index

◆ IndexVector

◆ Inertia

◆ JointCollection

◆ JointData

◆ JointIndex

◆ JointModel

◆ Matrix3x

◆ Matrix6

◆ Matrix6x

◆ MatrixXs

◆ Model

◆ Motion

◆ RowMatrix6

◆ RowMatrixXs

◆ SE3

◆ TangentVectorType

◆ Tensor3x

◆ Vector3

◆ Vector6c

◆ Vector6r

◆ VectorXs

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ DataTpl() [1/2]

◆ DataTpl() [2/2]

Member Function Documentation

◆ computeLastChild()

◆ computeParents_fromRow()

◆ computeSupports_fromRow()

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [3/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [4/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [5/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [6/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [7/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [8/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [9/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [10/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [11/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [12/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [13/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [14/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [15/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [16/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [17/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [18/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [19/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [20/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [21/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [22/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [23/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [24/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [25/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [26/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [27/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [28/29]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [29/29]

Member Data Documentation

◆ Ag

◆ bodyRegressor

◆ C

◆ D

◆ d2tau_dadq

◆ d2tau_dqdq

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >