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5 #ifndef __pinocchio_algorithm_regressor_hpp__
6 #define __pinocchio_algorithm_regressor_hpp__
19 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xReturnType>
21 const DataTpl<Scalar,Options,JointCollectionTpl> &
data,
25 const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor);
40 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
49 ReturnType
res(ReturnType::Zero(6,(
model.njoints-1)*6));
61 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xReturnType>
63 const DataTpl<Scalar,Options,JointCollectionTpl> &
data,
66 const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor);
79 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
87 ReturnType
res(ReturnType::Zero(6,(
model.njoints-1)*6));
99 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xReturnType>
101 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
104 const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor);
117 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
125 ReturnType
res(ReturnType::Zero(6,(
model.njoints-1)*6));
150 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
153 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
154 const Eigen::MatrixBase<ConfigVectorType> &
q);
174 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
178 const Eigen::MatrixBase<ConfigVectorType> &
q)
194 template<
typename MotionVelocity,
typename MotionAcceleration,
typename OutputType>
197 const MotionDense<MotionAcceleration> &
a,
198 const Eigen::MatrixBase<OutputType> & regressor);
211 template<
typename MotionVelocity,
typename MotionAcceleration>
214 const MotionDense<MotionAcceleration> &
a);
232 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
235 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
254 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
257 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
283 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
286 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
287 const Eigen::MatrixBase<ConfigVectorType> &
q,
288 const Eigen::MatrixBase<TangentVectorType1> &
v,
289 const Eigen::MatrixBase<TangentVectorType2> &
a);
294 #include "pinocchio/algorithm/regressor.hxx"
296 #endif // ifndef __pinocchio_algorithm_regressor_hpp__
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & frameBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex frameId)
Computes the regressor for the dynamic parameters of a rigid body attached to a given frame,...
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
ReferenceFrame
List of Reference Frames supported by Pinocchio.
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & jointBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, JointIndex jointId)
Computes the regressor for the dynamic parameters of a rigid body attached to a given joint,...
Eigen::Matrix< Scalar, 6, 10, Options > BodyRegressorType
The type of the body regressor.
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x
The 3d jacobian type (temporary)
void computeJointKinematicRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
Computes the kinematic regressor that links the joint placements variations of the whole kinematic tr...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x & computeStaticRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the static regressor that links the center of mass positions of all the links to the center ...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
void computeFrameKinematicRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
Computes the kinematic regressor that links the joint placement variations of the whole kinematic tre...
void bodyRegressor(const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > ®ressor)
Computes the regressor for the dynamic parameters of a single rigid body.
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x & computeStaticRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the static regressor that links the center of mass positions of all the links to the center ...
PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate(const ModelTpl< Scalar
Integrate a configuration vector for the specified model for a tangent vector during one unit time.
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & computeJointTorqueRegressor(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)
Computes the joint torque regressor that links the joint torque to the dynamic parameters of each lin...
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:43:59