jacobian.hpp

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//
// Copyright (c) 2015-2020 CNRS INRIA
//
 
#ifndef __pinocchio_algorithm_jacobian_hpp__
#define __pinocchio_algorithm_jacobian_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
 
namespace pinocchio
{
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType>
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeJointJacobians(
    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>::Matrix6x & computeJointJacobians(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename Matrix6Like>
  void getJointJacobian(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const JointIndex joint_id,
    const ReferenceFrame reference_frame,
    const Eigen::MatrixBase<Matrix6Like> & J);
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> getJointJacobian(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const JointIndex joint_id,
    const ReferenceFrame reference_frame)
  {
    typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> ReturnType;
    ReturnType res(ReturnType::Zero(6, model.nv));
 
    getJointJacobian(model, data, joint_id, reference_frame, res);
    return res;
  }
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType,
    typename Matrix6Like>
  void computeJointJacobian(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<ConfigVectorType> & q,
    const JointIndex joint_id,
    const Eigen::MatrixBase<Matrix6Like> & J);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename ConfigVectorType,
    typename TangentVectorType>
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
  computeJointJacobiansTimeVariation(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<ConfigVectorType> & q,
    const Eigen::MatrixBase<TangentVectorType> & v);
 
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename Matrix6Like>
  void getJointJacobianTimeVariation(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const JointIndex joint_id,
    const ReferenceFrame reference_frame,
    const Eigen::MatrixBase<Matrix6Like> & dJ);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
 
#include "pinocchio/algorithm/jacobian.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/jacobian.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_algorithm_jacobian_hpp__