algorithm/aba.hpp

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//
// Copyright (c) 2016-2021 CNRS INRIA
//
 
#ifndef __pinocchio_algorithm_aba_hpp__
#define __pinocchio_algorithm_aba_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
 
namespace pinocchio
{
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType,
    typename TangentVectorType1,
    typename TangentVectorType2>
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & 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);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType,
    typename TangentVectorType1,
    typename TangentVectorType2,
    typename ForceDerived>
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & 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);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType>
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<ConfigVectorType> & q);
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data);
 
  PINOCCHIO_DEFINE_ALGO_CHECKER(ABA);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/aba.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/aba.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_algorithm_aba_hpp__