src/algorithm/centroidal.cpp
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #include "pinocchio/algorithm/centroidal.hpp"
6 
7 namespace pinocchio
8 {
9 
10  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const
11  ForceTpl<context::Scalar, context::Options> &
12  computeCentroidalMomentum<context::Scalar, context::Options, JointCollectionDefaultTpl>(
13  const context::Model &, context::Data &);
14  namespace impl
15  {
16  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const
17  ForceTpl<context::Scalar, context::Options> &
18  computeCentroidalMomentum<
19  context::Scalar,
20  context::Options,
21  JointCollectionDefaultTpl,
22  Eigen::Ref<const context::VectorXs>,
23  Eigen::Ref<const context::VectorXs>>(
24  const context::Model &,
25  context::Data &,
26  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
27  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
28  }
29  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const
30  ForceTpl<context::Scalar, context::Options> &
31  computeCentroidalMomentumTimeVariation<
32  context::Scalar,
33  context::Options,
34  JointCollectionDefaultTpl>(const context::Model &, context::Data &);
35  namespace impl
36  {
37  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const
38  ForceTpl<context::Scalar, context::Options> &
39  computeCentroidalMomentumTimeVariation<
40  context::Scalar,
41  context::Options,
42  JointCollectionDefaultTpl,
43  Eigen::Ref<const context::VectorXs>,
44  Eigen::Ref<const context::VectorXs>,
45  Eigen::Ref<const context::VectorXs>>(
46  const context::Model &,
47  context::Data &,
48  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
49  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
50  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
51 
52  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Matrix6xs & ccrba<
53  context::Scalar,
54  context::Options,
55  JointCollectionDefaultTpl,
56  Eigen::Ref<const context::VectorXs>,
57  Eigen::Ref<const context::VectorXs>>(
58  const context::Model &,
59  context::Data &,
60  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
61  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
62 
63  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Matrix6xs &
64  computeCentroidalMap<
65  context::Scalar,
66  context::Options,
67  JointCollectionDefaultTpl,
68  Eigen::Ref<const context::VectorXs>>(
69  const context::Model &,
70  context::Data &,
71  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
72 
73  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Matrix6xs & dccrba<
74  context::Scalar,
75  context::Options,
76  JointCollectionDefaultTpl,
77  Eigen::Ref<const context::VectorXs>,
78  Eigen::Ref<const context::VectorXs>>(
79  const context::Model &,
80  context::Data &,
81  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
82  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
83 
84  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::Matrix6xs &
85  computeCentroidalMapTimeVariation<
86  context::Scalar,
87  context::Options,
88  JointCollectionDefaultTpl,
89  Eigen::Ref<const context::VectorXs>,
90  Eigen::Ref<const context::VectorXs>>(
91  const context::Model &,
92  context::Data &,
93  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
94  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
95  } // namespace impl
96 } // namespace pinocchio
pinocchio::context::Model
ModelTpl< Scalar, Options > Model
Definition: context/generic.hpp:56
pinocchio::dccrba
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & dccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration...
pinocchio::computeCentroidalMapTimeVariation
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMapTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix time derivative.
pinocchio::computeCentroidalMap
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMap(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the Centroidal Momentum Matrix.
pinocchio::ccrba
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & ccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal m...
pinocchio::computeCentroidalMomentumTimeVariation
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentumTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and...
pinocchio::context::Options
@ Options
Definition: context/generic.hpp:45
centroidal.hpp
pinocchio::context::Matrix6xs
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6xs
Definition: context/generic.hpp:48
pinocchio::context::Data
DataTpl< Scalar, Options > Data
Definition: context/generic.hpp:57
pinocchio::computeCentroidalMomentum
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentum(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center ...
pinocchio::context::Scalar
PINOCCHIO_SCALAR_TYPE Scalar
Definition: context/generic.hpp:42
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27

pinocchio
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autogenerated on Tue Jun 25 2024 02:42:34