#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/algorithm/check.hpp"#include "pinocchio/algorithm/aba.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived > | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & | pinocchio::aba (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< ForceDerived > &fext, const Convention rf=Convention::LOCAL) |
| The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model and the external forces. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 > | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & | pinocchio::aba (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 Convention convention=Convention::LOCAL) |
| The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & | pinocchio::computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data) |
| Computes the inverse of the joint space inertia matrix using Articulated Body formulation. Compared to the complete signature computeMinverse<Scalar,Options,ConfigVectorType>, this version assumes that ABA has been called first. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & | pinocchio::computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q) |
| Computes the inverse of the joint space inertia matrix using Articulated Body formulation. More... | |
| pinocchio::PINOCCHIO_DEFINE_ALGO_CHECKER (ABA) | |