#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include <type_traits>#include "pinocchio/algorithm/aba-derivatives.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | pinocchio::computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data) |
| The derivatives of the Articulated-Body algorithm. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | pinocchio::computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext) |
| The derivatives of the Articulated-Body algorithm with external forces. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename MatrixType1 , typename MatrixType2 , typename MatrixType3 > | |
| void | pinocchio::computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau) |
| The derivatives of the Articulated-Body algorithm with external forces. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 > | |
| std::enable_if< ConfigVectorType::IsVectorAtCompileTime||TangentVectorType1::IsVectorAtCompileTime||TangentVectorType2::IsVectorAtCompileTime, void >::type | pinocchio::computeABADerivatives (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 > &tau) |
| The derivatives of the Articulated-Body algorithm. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 > | |
| void | pinocchio::computeABADerivatives (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 > &tau, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext) |
| The derivatives of the Articulated-Body algorithm with external forces. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 > | |
| void | pinocchio::computeABADerivatives (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 > &tau, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau) |
| The derivatives of the Articulated-Body algorithm with external forces. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 > | |
| void | pinocchio::computeABADerivatives (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 > &tau, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau) |
| The derivatives of the Articulated-Body algorithm. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename MatrixType1 , typename MatrixType2 , typename MatrixType3 > | |
| std::enable_if< !(MatrixType1::IsVectorAtCompileTime||MatrixType2::IsVectorAtCompileTime||MatrixType3::IsVectorAtCompileTime), void >::type | pinocchio::computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau) |
| The derivatives of the Articulated-Body algorithm. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More... | |