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5 #ifndef __pinocchio_jacobian_hpp__
6 #define __pinocchio_jacobian_hpp__
29 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
32 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
33 const Eigen::MatrixBase<ConfigVectorType> &
q);
48 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
51 DataTpl<Scalar,Options,JointCollectionTpl> &
data);
71 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6Like>
73 const DataTpl<Scalar,Options,JointCollectionTpl> &
data,
76 const Eigen::MatrixBase<Matrix6Like> &
J);
98 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
100 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
101 const Eigen::MatrixBase<ConfigVectorType> &
q,
103 const Eigen::MatrixBase<Matrix6Like> &
J);
110 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
114 const Eigen::MatrixBase<ConfigVectorType> &
q,
116 const Eigen::MatrixBase<Matrix6Like> &
J)
136 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
139 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
140 const Eigen::MatrixBase<ConfigVectorType> &
q,
141 const Eigen::MatrixBase<TangentVectorType> &
v);
156 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6Like>
158 const DataTpl<Scalar,Options,JointCollectionTpl> &
data,
161 const Eigen::MatrixBase<Matrix6Like> & dJ);
169 #include "pinocchio/algorithm/jacobian.hxx"
171 #endif // ifndef __pinocchio_jacobian_hpp__
ReferenceFrame
List of Reference Frames supported by Pinocchio.
#define PINOCCHIO_EIGEN_CONST_CAST(TYPE, OBJ)
Macro for an automatic const_cast.
void getJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame or i...
pinocchio::JointIndex JointIndex
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
void getJointJacobianTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6Like > &dJ)
Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (r...
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeJointJacobians(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame....
PINOCCHIO_DEPRECATED void jointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex jointId, const Eigen::MatrixBase< Matrix6Like > &J)
This function is now deprecated and has been renamed into computeJointJacobian. It will be removed in...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
void computeJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex jointId, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store t...
const 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)
Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depen...
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:43:58