pinocchio::impl Namespace Reference

Classes
struct	LhsMultiplicationOp
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceHelicalTpl< Scalar, Options, axis > >
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceHelicalUnalignedTpl< Scalar, Options > >
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspacePrismaticTpl< Scalar, Options, axis > >
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspacePrismaticUnalignedTpl< Scalar, Options > >
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceRevoluteTpl< Scalar, Options, axis > >
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceRevoluteUnalignedTpl< Scalar, Options > >
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceUniversalTpl< Scalar, Options > >
struct	LhsMultiplicationOp< Eigen::MatrixBase< M6Like >, ScaledJointMotionSubspaceTpl< S2, O2, MD2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceHelicalTpl< S2, O2, 0 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceHelicalTpl< S2, O2, 1 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceHelicalTpl< S2, O2, 2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceHelicalUnalignedTpl< S2, O2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspacePrismaticTpl< S2, O2, 0 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspacePrismaticTpl< S2, O2, 1 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspacePrismaticTpl< S2, O2, 2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspacePrismaticUnalignedTpl< S2, O2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceRevoluteTpl< S2, O2, 0 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceRevoluteTpl< S2, O2, 1 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceRevoluteTpl< S2, O2, 2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceRevoluteUnalignedTpl< S2, O2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceUniversalTpl< S2, O2 > >
struct	LhsMultiplicationOp< InertiaTpl< S1, O1 >, ScaledJointMotionSubspaceTpl< S2, O2, MD2 > >

Functions
template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Vector3 &	centerOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &, const bool computeSubtreeComs)
template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Matrix6xs &	computeCentroidalMap< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &)
template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::VectorXs &	computeGeneralizedGravity< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &)
template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Matrix6xs &	computeJointJacobians< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &)
template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Scalar	computePotentialEnergy< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &)
template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::VectorXs &	computeStaticTorque< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &, const container::aligned_vector< context::Force > &)
template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void	forwardKinematics< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &)
template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void	getJacobianSubtreeCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix3x > > (const context::Model &, const context::Data &, const JointIndex &, const Eigen::MatrixBase< Eigen::Ref< context::Matrix3x >> &)
template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void	getJointJacobian< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix6xs > > (const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame, const Eigen::MatrixBase< Eigen::Ref< context::Matrix6xs >> &)
template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void	getJointJacobianTimeVariation< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix6xs > > (const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame, const Eigen::MatrixBase< Eigen::Ref< context::Matrix6xs >> &)
template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Matrix3x &	jacobianCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > > (const context::Model &, context::Data &, const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &, const bool computeSubtreeComs)
template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void	jacobianSubtreeCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix3x > > (const context::Model &, context::Data &, const JointIndex &, const Eigen::MatrixBase< Eigen::Ref< context::Matrix3x >> &)

Function Documentation

centerOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Vector3& pinocchio::impl::centerOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &	,
		const bool	computeSubtreeComs
	)

computeCentroidalMap< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Matrix6xs& pinocchio::impl::computeCentroidalMap< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &
	)

computeGeneralizedGravity< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::VectorXs& pinocchio::impl::computeGeneralizedGravity< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &
	)

computeJointJacobians< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Matrix6xs& pinocchio::impl::computeJointJacobians< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &
	)

computePotentialEnergy< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Scalar pinocchio::impl::computePotentialEnergy< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &
	)

computeStaticTorque< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::VectorXs& pinocchio::impl::computeStaticTorque< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &	,
		const container::aligned_vector< context::Force > &
	)

forwardKinematics< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void pinocchio::impl::forwardKinematics< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &
	)

getJacobianSubtreeCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix3x > >()

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void pinocchio::impl::getJacobianSubtreeCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix3x > >	(	const context::Model &	,
		const context::Data &	,
		const JointIndex &	,
		const Eigen::MatrixBase< Eigen::Ref< context::Matrix3x >> &
	)

getJointJacobian< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix6xs > >()

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void pinocchio::impl::getJointJacobian< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix6xs > >	(	const context::Model &	,
		const context::Data &	,
		const	JointIndex,
		const	ReferenceFrame,
		const Eigen::MatrixBase< Eigen::Ref< context::Matrix6xs >> &
	)

getJointJacobianTimeVariation< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix6xs > >()

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void pinocchio::impl::getJointJacobianTimeVariation< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix6xs > >	(	const context::Model &	,
		const context::Data &	,
		const	JointIndex,
		const	ReferenceFrame,
		const Eigen::MatrixBase< Eigen::Ref< context::Matrix6xs >> &
	)

jacobianCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >()

template const PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Matrix3x& pinocchio::impl::jacobianCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< const context::VectorXs > >	(	const context::Model &	,
		context::Data &	,
		const Eigen::MatrixBase< Eigen::Ref< const context::VectorXs >> &	,
		const bool	computeSubtreeComs
	)

jacobianSubtreeCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix3x > >()

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void pinocchio::impl::jacobianSubtreeCenterOfMass< context::Scalar, context::Options, JointCollectionDefaultTpl, Eigen::Ref< context::Matrix3x > >	(	const context::Model &	,
		context::Data &	,
		const JointIndex &	,
		const Eigen::MatrixBase< Eigen::Ref< context::Matrix3x >> &
	)