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8 #include <boost/python/tuple.hpp>
28 partialh_dq, partial_dq, partial_dv, partial_da);
30 return bp::make_tuple(partialh_dq, partial_dq,partial_dv,partial_da);
44 return bp::make_tuple(partialh_dq,partial_dq,partial_dv,partial_da);
49 using namespace Eigen;
51 bp::def(
"computeCentroidalDynamicsDerivatives",
53 bp::args(
"Model",
"Data",
"q",
"v",
"a"),
54 "Computes the analytical derivatives of the centroidal dynamics\n"
55 "with respect to the joint configuration vector, velocity and acceleration.");
57 bp::def(
"getCentroidalDynamicsDerivatives",
59 bp::args(
"Model",
"Data"),
60 "Retrive the analytical derivatives of the centroidal dynamics\n"
61 "from the RNEA derivatives.\n"
62 "pinocchio.computeRNEADerivatives should have been called first.");
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorXd
bp::tuple computeCentroidalDynamicsDerivatives_proxy(const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
void exposeCentroidalDerivatives()
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
void getCentroidalDynamicsDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix6xLike1 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
Retrive the analytical derivatives of the centroidal dynamics from the RNEA derivatives....
bp::tuple getCentroidalDynamicsDerivatives_proxy(const Model &model, Data &data)
Eigen::Matrix< double, 6, Eigen::Dynamic > Matrix6x
void computeCentroidalDynamicsDerivatives(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 Eigen::MatrixBase< Matrix6xLike0 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
Computes the analytical derivatives of the centroidal dynamics with respect to the joint configuratio...
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:43:58