#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/algorithm/frames.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike > | |
| void | pinocchio::computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J) |
| Computes the Jacobian of a specific Frame expressed in the LOCAL frame coordinate system. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike > | |
| void | pinocchio::computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J) |
| Computes the Jacobian of a specific Frame expressed in the desired reference_frame given as argument. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| ForceTpl< Scalar, Options > | pinocchio::computeSupportedForceByFrame (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id) |
| Computes the force supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The supported force corresponds to the sum of all the forces experienced after the given frame, i.e : More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| InertiaTpl< Scalar, Options > | pinocchio::computeSupportedInertiaByFrame (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, bool with_subtree) |
| Compute the inertia supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The total supported inertia corresponds to the sum of all the inertia after the given frame, i.e : More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > | |
| void | pinocchio::framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q) |
| First calls the forwardKinematics on the model, then computes the placement of each frame. /sa pinocchio::forwardKinematics. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL) |
| Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in the data structure. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf=LOCAL) |
| Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::getFrameClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL) |
| Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::getFrameClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf=LOCAL) |
| Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > | pinocchio::getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame reference_frame) |
| Returns the jacobian of the frame expressed either expressed in the local frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike > | |
| void | pinocchio::getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J) |
| Returns the jacobian of the frame expressed either expressed in the local frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > | pinocchio::getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame reference_frame) |
| Returns the jacobian of the frame given by its relative placement w.r.t. a joint frame, and whose columns are either expressed in the LOCAL frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike > | |
| void | pinocchio::getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J) |
| Returns the jacobian of the frame given by its relative placement w.r.t. a joint frame, and whose columns are either expressed in the LOCAL frame coordinate system, in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike > | |
| void | pinocchio::getFrameJacobianTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &dJ) |
| Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the WORLD frame (rf = WORLD), in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the LOCAL frame (rf = LOCAL). More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL) |
| Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf=LOCAL) |
| Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| const DataTpl< Scalar, Options, JointCollectionTpl >::SE3 & | pinocchio::updateFramePlacement (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id) |
| Updates the placement of the given frame. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | pinocchio::updateFramePlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data) |
| Updates the position of each frame contained in the model. More... | |