rnea.hpp
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1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_rnea_hpp__
6 #define __pinocchio_algorithm_rnea_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 
11 namespace pinocchio
12 {
30  template<
31  typename Scalar,
32  int Options,
33  template<typename, int> class JointCollectionTpl,
34  typename ConfigVectorType,
35  typename TangentVectorType1,
36  typename TangentVectorType2>
37  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & rnea(
38  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
39  DataTpl<Scalar, Options, JointCollectionTpl> & data,
40  const Eigen::MatrixBase<ConfigVectorType> & q,
41  const Eigen::MatrixBase<TangentVectorType1> & v,
42  const Eigen::MatrixBase<TangentVectorType2> & a);
43 
65  template<
66  typename Scalar,
67  int Options,
68  template<typename, int> class JointCollectionTpl,
69  typename ConfigVectorType,
70  typename TangentVectorType1,
71  typename TangentVectorType2,
72  typename ForceDerived>
73  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & rnea(
74  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
75  DataTpl<Scalar, Options, JointCollectionTpl> & data,
76  const Eigen::MatrixBase<ConfigVectorType> & q,
77  const Eigen::MatrixBase<TangentVectorType1> & v,
78  const Eigen::MatrixBase<TangentVectorType2> & a,
79  const container::aligned_vector<ForceDerived> & fext);
80 
99  template<
100  typename Scalar,
101  int Options,
102  template<typename, int> class JointCollectionTpl,
103  typename ConfigVectorType,
104  typename TangentVectorType>
105  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & nonLinearEffects(
106  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
107  DataTpl<Scalar, Options, JointCollectionTpl> & data,
108  const Eigen::MatrixBase<ConfigVectorType> & q,
109  const Eigen::MatrixBase<TangentVectorType> & v);
110 
127  template<
128  typename Scalar,
129  int Options,
130  template<typename, int> class JointCollectionTpl,
131  typename ConfigVectorType>
132  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
133  computeGeneralizedGravity(
134  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
135  DataTpl<Scalar, Options, JointCollectionTpl> & data,
136  const Eigen::MatrixBase<ConfigVectorType> & q);
137 
157  template<
158  typename Scalar,
159  int Options,
160  template<typename, int> class JointCollectionTpl,
161  typename ConfigVectorType>
162  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
163  computeStaticTorque(
164  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
165  DataTpl<Scalar, Options, JointCollectionTpl> & data,
166  const Eigen::MatrixBase<ConfigVectorType> & q,
167  const container::aligned_vector<ForceTpl<Scalar, Options>> & fext);
168 
187  template<
188  typename Scalar,
189  int Options,
190  template<typename, int> class JointCollectionTpl,
191  typename ConfigVectorType,
192  typename TangentVectorType>
193  const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & computeCoriolisMatrix(
194  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
195  DataTpl<Scalar, Options, JointCollectionTpl> & data,
196  const Eigen::MatrixBase<ConfigVectorType> & q,
197  const Eigen::MatrixBase<TangentVectorType> & v);
198 
213  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
214  const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & getCoriolisMatrix(
215  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
216  DataTpl<Scalar, Options, JointCollectionTpl> & data);
217 
218 } // namespace pinocchio
219 
220 /* --- Details -------------------------------------------------------------------- */
221 #include "pinocchio/algorithm/rnea.hxx"
222 
223 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
224  #include "pinocchio/algorithm/rnea.txx"
225 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
226 
227 #endif // ifndef __pinocchio_algorithm_rnea_hpp__
pinocchio::DataTpl::TangentVectorType
VectorXs TangentVectorType
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc)....
Definition: multibody/data.hpp:89
pinocchio::DataTpl::MatrixXs
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
Definition: multibody/data.hpp:74
pinocchio::Options
Options
Definition: joint-configuration.hpp:1082
model.hpp
setup.data
data
Definition: cmake/cython/setup.in.py:48
pinocchio::python::Scalar
context::Scalar Scalar
Definition: admm-solver.cpp:29
pinocchio::getCoriolisMatrix
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & getCoriolisMatrix(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Retrives the Coriolis Matrix of the Lagrangian dynamics:
pinocchio::computeStaticTorque
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & computeStaticTorque(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext)
Computes the generalized static torque contribution of the Lagrangian dynamics:
data.hpp
pinocchio::nonLinearEffects
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & nonLinearEffects(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects),...
pinocchio::q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
Definition: joint-configuration.hpp:1083
a
Vec3f a
pinocchio::v
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
Definition: joint-configuration.hpp:1084
pinocchio::container::aligned_vector
std::vector< T, Eigen::aligned_allocator< T > > aligned_vector
Definition: container/aligned-vector.hpp:21
pinocchio::rnea
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & rnea(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)
The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques accordi...
pinocchio::computeCoriolisMatrix
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & computeCoriolisMatrix(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Coriolis Matrix of the Lagrangian dynamics:
pinocchio::model
JointCollectionTpl & model
Definition: joint-configuration.hpp:1082
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27
pinocchio::computeGeneralizedGravity
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & computeGeneralizedGravity(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the generalized gravity contribution of the Lagrangian dynamics:

pinocchio
Author(s):
autogenerated on Thu Dec 19 2024 03:41:32