act-on-set.hpp

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//
// Copyright (c) 2015-2018 CNRS
//
 
#ifndef __pinocchio_act_on_set_hpp__
#define __pinocchio_act_on_set_hpp__
 
#include "pinocchio/macros.hpp"
#include "pinocchio/spatial/fwd.hpp"
 
namespace pinocchio
{
 
  namespace forceSet
  {
    template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3Action(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3Action(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3ActionInverse(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3ActionInverse(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<int Op, typename MotionDerived, typename Mat, typename MatRet>
    static void motionAction(
      const MotionDense<MotionDerived> & v,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<typename MotionDerived, typename Mat, typename MatRet>
    static void motionAction(
      const MotionDense<MotionDerived> & v,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
  } // namespace forceSet
 
  namespace motionSet
  {
    template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3Action(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iV,
      Eigen::MatrixBase<MatRet> const & jV);
 
    template<typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3Action(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iV,
      Eigen::MatrixBase<MatRet> const & jV);
 
    template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3ActionInverse(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iV,
      Eigen::MatrixBase<MatRet> const & jV);
 
    template<typename Scalar, int Options, typename Mat, typename MatRet>
    static void se3ActionInverse(
      const SE3Tpl<Scalar, Options> & m,
      const Eigen::MatrixBase<Mat> & iV,
      Eigen::MatrixBase<MatRet> const & jV);
 
    template<int Op, typename MotionDerived, typename Mat, typename MatRet>
    static void motionAction(
      const MotionDense<MotionDerived> & v,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<typename MotionDerived, typename Mat, typename MatRet>
    static void motionAction(
      const MotionDense<MotionDerived> & v,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
    static void inertiaAction(
      const InertiaTpl<Scalar, Options> & I,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<typename Scalar, int Options, typename Mat, typename MatRet>
    static void inertiaAction(
      const InertiaTpl<Scalar, Options> & I,
      const Eigen::MatrixBase<Mat> & iF,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<int Op, typename ForceDerived, typename Mat, typename MatRet>
    static void act(
      const Eigen::MatrixBase<Mat> & iV,
      const ForceDense<ForceDerived> & f,
      Eigen::MatrixBase<MatRet> const & jF);
 
    template<typename ForceDerived, typename Mat, typename MatRet>
    static void act(
      const Eigen::MatrixBase<Mat> & iV,
      const ForceDense<ForceDerived> & f,
      Eigen::MatrixBase<MatRet> const & jF);
 
  } // namespace motionSet
 
} // namespace pinocchio
 
#include "pinocchio/spatial/act-on-set.hxx"
 
#endif // ifndef __pinocchio_act_on_set_hpp__