#include "pinocchio/algorithm/joint-configuration.hpp"#include "pinocchio/algorithm/kinematics.hpp"#include "pinocchio/algorithm/kinematics-derivatives.hpp"#include "pinocchio/algorithm/rnea-derivatives.hpp"#include "pinocchio/algorithm/rnea-second-order-derivatives.hpp"#include "pinocchio/algorithm/aba-derivatives.hpp"#include "pinocchio/algorithm/aba.hpp"#include "pinocchio/algorithm/rnea.hpp"#include "pinocchio/algorithm/crba.hpp"#include "pinocchio/algorithm/cholesky.hpp"#include "pinocchio/parsers/urdf.hpp"#include "pinocchio/multibody/sample-models.hpp"#include "pinocchio/container/aligned-vector.hpp"#include <iostream>#include "pinocchio/utils/timer.hpp"
Include dependency graph for timings-derivatives.cpp:
Go to the source code of this file.
Functions | |
| void | aba_fd (const pinocchio::Model &model, pinocchio::Data &data_fd, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, Eigen::MatrixXd &daba_dq, Eigen::MatrixXd &daba_dv, pinocchio::Data::RowMatrixXs &daba_dtau) |
| int | main (int argc, const char **argv) |
| template<typename Matrix1 , typename Matrix2 , typename Matrix3 > | |
| void | rnea_fd (const pinocchio::Model &model, pinocchio::Data &data_fd, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, const Eigen::MatrixBase< Matrix1 > &_drnea_dq, const Eigen::MatrixBase< Matrix2 > &_drnea_dv, const Eigen::MatrixBase< Matrix3 > &_drnea_da) |
Function Documentation
◆ aba_fd()
| void aba_fd | ( | const pinocchio::Model & | model, |
| pinocchio::Data & | data_fd, | ||
| const Eigen::VectorXd & | q, | ||
| const Eigen::VectorXd & | v, | ||
| const Eigen::VectorXd & | tau, | ||
| Eigen::MatrixXd & | daba_dq, | ||
| Eigen::MatrixXd & | daba_dv, | ||
| pinocchio::Data::RowMatrixXs & | daba_dtau | ||
| ) |
Definition at line 74 of file timings-derivatives.cpp.
◆ main()
| int main | ( | int | argc, |
| const char ** | argv | ||
| ) |
Definition at line 118 of file timings-derivatives.cpp.
◆ rnea_fd()
template<typename Matrix1 , typename Matrix2 , typename Matrix3 >
| void rnea_fd | ( | const pinocchio::Model & | model, |
| pinocchio::Data & | data_fd, | ||
| const Eigen::VectorXd & | q, | ||
| const Eigen::VectorXd & | v, | ||
| const Eigen::VectorXd & | a, | ||
| const Eigen::MatrixBase< Matrix1 > & | _drnea_dq, | ||
| const Eigen::MatrixBase< Matrix2 > & | _drnea_dv, | ||
| const Eigen::MatrixBase< Matrix3 > & | _drnea_da | ||
| ) |
Definition at line 24 of file timings-derivatives.cpp.