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5 #ifndef __pinocchio_multibody_joint_basic_visitors_hpp__
6 #define __pinocchio_multibody_joint_basic_visitors_hpp__
22 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
23 inline JointDataTpl<Scalar, Options, JointCollectionTpl>
24 createData(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
41 template<
typename S,
int O>
42 class JointCollectionTpl,
43 typename ConfigVectorType>
45 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
46 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata,
47 const Eigen::MatrixBase<ConfigVectorType> &
q);
66 template<
typename S,
int O>
67 class JointCollectionTpl,
68 typename ConfigVectorType,
69 typename TangentVectorType>
71 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
72 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata,
73 const Eigen::MatrixBase<ConfigVectorType> &
q,
74 const Eigen::MatrixBase<TangentVectorType> &
v);
91 template<
typename S,
int O>
92 class JointCollectionTpl,
93 typename TangentVectorType>
95 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
96 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata,
98 const Eigen::MatrixBase<TangentVectorType> &
v);
118 template<
typename S,
int O>
119 class JointCollectionTpl,
121 typename Matrix6Type>
123 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
124 JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata,
125 const Eigen::MatrixBase<VectorLike> & armature,
126 const Eigen::MatrixBase<Matrix6Type> & I,
127 const bool update_I);
137 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
138 inline int nv(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
148 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
149 inline int nq(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
159 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
160 inline const std::vector<bool>
171 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
172 inline const std::vector<bool>
184 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
185 inline int idx_q(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
196 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
197 inline int idx_v(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
207 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
208 inline JointIndex id(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
223 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
225 JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
JointIndex id,
int q,
int v);
233 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
234 inline std::string
shortname(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
249 template<
typename S,
int O>
250 class JointCollectionTpl>
251 typename CastType<NewScalar, JointModelTpl<Scalar, Options, JointCollectionTpl>>
::type
252 cast_joint(
const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
265 template<
typename S,
int O>
266 class JointCollectionTpl,
267 typename JointModelDerived>
269 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
270 const JointModelBase<JointModelDerived> & jmodel);
285 template<
typename S,
int O>
286 class JointCollectionTpl,
287 typename JointModelDerived>
289 const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
290 const JointModelBase<JointModelDerived> & jmodel);
304 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
305 inline typename JointDataTpl<Scalar, Options, JointCollectionTpl>::ConfigVector_t
306 joint_q(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
316 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
317 inline typename JointDataTpl<Scalar, Options, JointCollectionTpl>::TangentVector_t
318 joint_v(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
328 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
329 inline JointMotionSubspaceTpl<Eigen::Dynamic, Scalar, Options>
340 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
341 inline SE3Tpl<Scalar, Options>
342 joint_transform(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
352 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
353 inline MotionTpl<Scalar, Options>
354 motion(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
364 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
365 inline MotionTpl<Scalar, Options>
366 bias(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
376 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
377 inline Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options>
378 u_inertia(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
388 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
389 inline Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options>
390 dinv_inertia(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
400 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
401 inline Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options>
402 udinv_inertia(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
412 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
413 inline Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options>
414 stu_inertia(
const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata);
427 template<
typename S,
int O>
428 class JointCollectionTpl,
429 typename JointDataDerived>
431 const JointDataTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
432 const JointDataBase<JointDataDerived> & jmodel);
440 #endif // ifndef __pinocchio_multibody_joint_basic_visitors_hpp__
JointDataTpl< Scalar, Options, JointCollectionTpl >::ConfigVector_t joint_q(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataVariant through JointConfigVisitor to get the joint configuration vector.
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corre...
int nv(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space.
JointIndex id(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain.
int nq(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space.
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > u_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposi...
bool hasSameIndexes(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel)
Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived.
MotionTpl< Scalar, Options > motion(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion.
const std::vector< bool > hasConfigurationLimitInTangent(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointConfigurationLimitInTangentVisitor to get the configurations limit...
JointDataTpl< Scalar, Options, JointCollectionTpl >::TangentVector_t joint_v(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataVariant through JointConfigVisitor to get the joint velocity vector.
std::string shortname(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model.
ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > createData(const ConstraintModelTpl< Scalar, Options, ConstraintCollectionTpl > &cmodel)
void calc_first_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to comput...
SE3Tpl< Scalar, Options > joint_transform(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform bet...
const std::vector< bool > hasConfigurationLimit(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointConfigurationLimitVisitor to get the configurations limits.
void setIndexes(JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic...
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type cast_joint(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...>
void calc_aba(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to.
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
MotionTpl< Scalar, Options > bias(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion.
bool isEqual(const ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > &cdata_generic, const ConstraintDataBase< ConstraintDataDerived > &cdata)
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > dinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix d...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > udinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix de...
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > stu_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointStUInertiaVisitor to get St*I*S matrix of the inertia matrix decomp...
void calc_zero_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute...
JointMotionSubspaceTpl< Eigen::Dynamic, Scalar, Options > joint_motin_subspace_xd(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constr...
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Wed Sep 25 2024 02:42:25