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56 "computeJointJacobians",
57 &computeJointJacobians<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
58 bp::args(
"model",
"data",
"q"),
59 "Computes the full model Jacobian, i.e. the stack of all the motion subspaces "
60 "expressed in the coordinate world frame.\n"
61 "The result is accessible through data.J. This function computes also the forward "
62 "kinematics of the model.\n\n"
64 "\tmodel: model of the kinematic tree\n"
65 "\tdata: data related to the model\n"
66 "\tq: the joint configuration vector (size model.nq)\n",
67 bp::return_value_policy<bp::return_by_value>());
70 "computeJointJacobians", &computeJointJacobians<Scalar, Options, JointCollectionDefaultTpl>,
71 bp::args(
"model",
"data"),
72 "Computes the full model Jacobian, i.e. the stack of all motion subspace expressed "
73 "in the world frame.\n"
74 "The result is accessible through data.J. This function assumes that forward "
75 "kinematics (pinocchio.forwardKinematics) has been called first.\n\n"
77 "\tmodel: model of the kinematic tree\n"
78 "\tdata: data related to the model\n",
79 bp::return_value_policy<bp::return_by_value>());
83 "Computes the Jacobian of a specific joint frame expressed in the local frame of the "
84 "joint according to the given input configuration.\n\n"
86 "\tmodel: model of the kinematic tree\n"
87 "\tdata: data related to the model\n"
88 "\tq: the joint configuration vector (size model.nq)\n"
89 "\tjoint_id: index of the joint\n");
93 bp::args(
"model",
"data",
"joint_id",
"reference_frame"),
94 "Computes the jacobian of a given given joint according to the given entries in data.\n"
95 "If reference_frame is set to LOCAL, it returns the Jacobian expressed in the local "
96 "coordinate system of the joint.\n"
97 "If reference_frame is set to LOCAL_WORLD_ALIGNED, it returns the Jacobian expressed in "
98 "the coordinate system of the frame centered on the joint, but aligned with the WORLD "
100 "If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate "
101 "system of the frame associated to the WORLD.\n\n"
103 "\tmodel: model of the kinematic tree\n"
104 "\tdata: data related to the model\n"
105 "\tjoint_id: index of the joint\n"
106 "\treference_frame: reference frame in which the resulting derivatives are expressed\n");
109 "computeJointJacobiansTimeVariation",
112 bp::args(
"model",
"data",
"q",
"v"),
113 "Computes the full model Jacobian variations with respect to time. It corresponds to "
114 "dJ/dt which depends both on q and v. It also computes the joint Jacobian of the "
115 "model (similar to computeJointJacobians)."
116 "The result is accessible through data.dJ and data.J.\n\n"
118 "\tmodel: model of the kinematic tree\n"
119 "\tdata: data related to the model\n"
120 "\tq: the joint configuration vector (size model.nq)\n"
121 "\tv: the joint velocity vector (size model.nv)\n",
122 bp::return_value_policy<bp::return_by_value>());
126 bp::args(
"model",
"data",
"joint_id",
"reference_frame"),
127 "Computes the Jacobian time variation of a specific joint expressed in the requested frame "
128 "provided by the value of reference_frame."
129 "You have to call computeJointJacobiansTimeVariation first. This function also computes "
130 "the full model Jacobian contained in data.J.\n"
131 "If reference_frame is set to LOCAL, it returns the Jacobian expressed in the local "
132 "coordinate system of the joint.\n"
133 "If reference_frame is set to LOCAL_WORLD_ALIGNED, it returns the Jacobian expressed in "
134 "the coordinate system of the frame centered on the joint, but aligned with the WORLD "
136 "If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate "
137 "system of the frame associated to the WORLD.\n\n"
139 "\tmodel: model of the kinematic tree\n"
140 "\tdata: data related to the model\n"
141 "\tjoint_id: index of the joint\n"
142 "\treference_frame: reference frame in which the resulting derivatives are expressed\n");
void getJointJacobianTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6Like > &dJ)
Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (r...
ReferenceFrame
Various conventions to express the velocity of a moving frame.
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeJointJacobiansTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depen...
static context::Data::Matrix6x get_jacobian_proxy(const context::Model &model, context::Data &data, JointIndex jointId, ReferenceFrame rf)
context::VectorXs VectorXs
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
void getJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed in one of the pinocchio::ReferenceFrame opt...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
static context::Data::Matrix6x get_jacobian_time_variation_proxy(const context::Model &model, context::Data &data, JointIndex jointId, ReferenceFrame rf)
void computeJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex joint_id, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store t...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
static context::Data::Matrix6x compute_jacobian_proxy(const context::Model &model, context::Data &data, const context::VectorXs &q, JointIndex jointId)
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Wed Dec 25 2024 03:41:15