#include "pinocchio/container/aligned-vector.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/multibody/model.hpp"#include "pinocchio/algorithm/rnea-second-order-derivatives.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 > | |
| void | pinocchio::ComputeRNEASecondOrderDerivatives (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 > &a) |
| Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename Tensor1 , typename Tensor2 , typename Tensor3 , typename Tensor4 > | |
| void | pinocchio::ComputeRNEASecondOrderDerivatives (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 > &a, const Tensor1 &d2tau_dqdq, const Tensor2 &d2tau_dvdv, const Tensor3 &dtau_dqdv, const Tensor4 &dtau_dadq) |
| Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithm w.r.t the joint configuration, the joint velocity and the joint acceleration. More... | |