#include <data.hpp>
Public Types | |
enum | { Options = _Options } |
typedef Eigen::Matrix< Scalar, 6, 10, Options > | BodyRegressorType |
The type of the body regressor. More... | |
typedef VectorXs | ConfigVectorType |
Dense vectorized version of a joint configuration vector. More... | |
typedef ForceTpl< Scalar, Options > | Force |
typedef FrameTpl< Scalar, Options > | Frame |
typedef pinocchio::FrameIndex | FrameIndex |
typedef pinocchio::GeomIndex | GeomIndex |
typedef pinocchio::Index | Index |
typedef std::vector< Index > | IndexVector |
typedef InertiaTpl< Scalar, Options > | Inertia |
typedef JointCollectionTpl< Scalar, Options > | JointCollection |
typedef JointDataTpl< Scalar, Options, JointCollectionTpl > | JointData |
typedef pinocchio::JointIndex | JointIndex |
typedef JointModelTpl< Scalar, Options, JointCollectionTpl > | JointModel |
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > | Matrix3x |
The 3d jacobian type (temporary) More... | |
typedef Eigen::Matrix< Scalar, 6, 6, Options > | Matrix6 |
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > | Matrix6x |
The 6d jacobian type (temporary) More... | |
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > | MatrixXs |
typedef ModelTpl< Scalar, Options, JointCollectionTpl > | Model |
typedef MotionTpl< Scalar, Options > | Motion |
typedef Eigen::Matrix< Scalar, 6, 6, Eigen::RowMajor|Options > | RowMatrix6 |
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options > | RowMatrixXs |
typedef SE3Tpl< Scalar, Options > | SE3 |
typedef VectorXs | TangentVectorType |
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc). More... | |
typedef Tensor< Scalar, 3, Options > | Tensor3x |
More... | |
typedef Eigen::Matrix< Scalar, 3, 1, Options > | Vector3 |
typedef Eigen::Matrix< Scalar, 6, 1, Options > | Vector6c |
typedef Eigen::Matrix< Scalar, 1, 6, Eigen::RowMajor|Options > | Vector6r |
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > | VectorXs |
Public Member Functions | |
DataTpl () | |
Default constructor. More... | |
DataTpl (const Model &model) | |
Default constructor of pinocchio::Data from a pinocchio::Model. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) f | |
Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) h | |
Vector of spatial momenta expressed in the local frame of the joint. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) of | |
Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Force) oh | |
Vector of spatial momenta expressed in the world frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oinertias | |
Rigid Body Inertia supported by the joint expressed in the world frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oYcrb | |
Composite Rigid Body Inertia expressed in the world frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) Ycrb | |
Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint.. More... | |
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector |
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) B | |
Combined variations of the inertia matrix consistent with Christoffel symbols. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) doYcrb | |
Time variation of Composite Rigid Body Inertia expressed in the world frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) dYcrb | |
Vector of sub-tree composite rigid body inertia time derivatives . See Data::Ycrb for more details. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Ivx | |
Left variation of the inertia matrix. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) vxI | |
Right variation of the inertia matrix. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Yaba | |
Inertia matrix of the subtree expressed as dense matrix [ABA]. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x) Fcrb | |
Spatial forces set, used in CRBA and CCRBA. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a | |
Vector of joint accelerations expressed at the centers of the joints frames. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_gf | |
Vector of joint accelerations due to the gravity field. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa | |
Vector of joint accelerations expressed at the origin of the world. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_gf | |
Vector of joint accelerations expressed at the origin of the world including gravity contribution. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) ov | |
Vector of joint velocities expressed at the origin. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Motion) v | |
Vector of joint velocities expressed at the centers of the joints. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) iMf | |
Vector of joint placements wrt to algorithm end effector. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) liMi | |
Vector of relative joint placements (wrt the body parent). More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMf | |
Vector of absolute operationnel frame placements (wrt the world). More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMi | |
Vector of absolute joint placements (wrt the world). More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) acom | |
Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint and expressed in the joint frame . The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) com | |
Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint and expressed in the joint frame . The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame. More... | |
PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) vcom | |
Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint and expressed in the joint frame . The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame. More... | |
Public Member Functions inherited from pinocchio::serialization::Serializable< DataTpl< _Scalar, _Options, JointCollectionTpl > > | |
void | loadFromBinary (boost::asio::streambuf &container) |
Loads a Derived object from a binary container. More... | |
void | loadFromBinary (const std::string &filename) |
Loads a Derived object from an binary file. More... | |
void | loadFromBinary (StaticBuffer &container) |
Loads a Derived object from a static binary container. More... | |
void | loadFromString (const std::string &str) |
Loads a Derived object from a string. More... | |
void | loadFromStringStream (std::istringstream &is) |
Loads a Derived object from a stream string. More... | |
void | loadFromText (const std::string &filename) |
Loads a Derived object from a text file. More... | |
void | loadFromXML (const std::string &filename, const std::string &tag_name) |
Loads a Derived object from an XML file. More... | |
void | saveToBinary (boost::asio::streambuf &container) const |
Saves a Derived object as a binary container. More... | |
void | saveToBinary (const std::string &filename) const |
Saves a Derived object as an binary file. More... | |
void | saveToBinary (StaticBuffer &container) const |
Saves a Derived object as a static binary container. More... | |
std::string | saveToString () const |
Saves a Derived object to a string. More... | |
void | saveToStringStream (std::stringstream &ss) const |
Saves a Derived object to a string stream. More... | |
void | saveToText (const std::string &filename) const |
Saves a Derived object as a text file. More... | |
void | saveToXML (const std::string &filename, const std::string &tag_name) const |
Saves a Derived object as an XML file. More... | |
Public Attributes | |
Matrix6x | Ag |
Centroidal Momentum Matrix. More... | |
BodyRegressorType | bodyRegressor |
Body regressor. More... | |
MatrixXs | C |
The Coriolis matrix (a square matrix of dim model.nv). More... | |
VectorXs | D |
Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition. More... | |
Tensor3x | d2tau_dadq |
SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration. More... | |
Tensor3x | d2tau_dqdq |
SO Partial derivative of the joint torque vector with respect to the joint configuration. More... | |
Tensor3x | d2tau_dqdv |
SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity. More... | |
Tensor3x | d2tau_dvdv |
SO Partial derivative of the joint torque vector with respect to the joint velocity. More... | |
Matrix6x | dAdq |
Variation of the spatial acceleration set with respect to the joint configuration. More... | |
Matrix6x | dAdv |
Variation of the spatial acceleration set with respect to the joint velocity. More... | |
Matrix6x | dAg |
Centroidal Momentum Matrix Time Variation. More... | |
Matrix6x | ddJ |
Second derivative of the Jacobian with respect to the time. More... | |
TangentVectorType | ddq |
The joint accelerations computed from ABA. More... | |
MatrixXs | ddq_dq |
Partial derivative of the joint acceleration vector with respect to the joint configuration. More... | |
MatrixXs | ddq_dv |
Partial derivative of the joint acceleration vector with respect to the joint velocity. More... | |
Matrix6x | dFda |
Variation of the forceset with respect to the joint acceleration. More... | |
Matrix6x | dFdq |
Variation of the forceset with respect to the joint configuration. More... | |
Matrix6x | dFdv |
Variation of the forceset with respect to the joint velocity. More... | |
Matrix6x | dHdq |
Variation of the spatial momenta with respect to the joint configuration. More... | |
Force | dhg |
Centroidal momentum time derivative. More... | |
VectorXs | Dinv |
Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition. More... | |
Matrix6x | dJ |
Derivative of the Jacobian with respect to the time. More... | |
TangentVectorType | dq_after |
Generalized velocity after impact. More... | |
MatrixXs | dtau_dq |
Partial derivative of the joint torque vector with respect to the joint configuration. More... | |
MatrixXs | dtau_dv |
Partial derivative of the joint torque vector with respect to the joint velocity. More... | |
Matrix6x | dVdq |
Variation of the spatial velocity set with respect to the joint configuration. More... | |
std::vector< int > | end_idx_v_fromRow |
End index of the Joint motion subspace. More... | |
VectorXs | g |
Vector of generalized gravity (dim model.nv). More... | |
Force | hg |
Centroidal momentum quantity. More... | |
Inertia | Ig |
Centroidal Composite Rigid Body Inertia. More... | |
VectorXs | impulse_c |
Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics. More... | |
Matrix6x | IS |
Used in computeMinverse. More... | |
Matrix6 | Itmp |
Temporary for derivative algorithms. More... | |
Matrix6x | J |
Jacobian of joint placements. More... | |
Matrix3x | Jcom |
Jacobian of center of mass. More... | |
MatrixXs | JMinvJt |
Inverse of the operational-space inertia matrix. More... | |
JointDataVector | joints |
Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor. More... | |
MatrixXs | jointTorqueRegressor |
Matrix related to joint torque regressor. More... | |
Tensor3x | kinematic_hessians |
Tensor containing the kinematic Hessian of all the joints. More... | |
Scalar | kinetic_energy |
Kinetic energy of the model. More... | |
VectorXs | lambda_c |
Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics. More... | |
std::vector< int > | lastChild |
Index of the last child (for CRBA) More... | |
Eigen::LLT< MatrixXs > | llt_JMinvJt |
Cholesky decompostion of . More... | |
MatrixXs | M |
The joint space inertia matrix (a square matrix of dim model.nv). More... | |
Matrix6 | M6tmp |
Temporary for derivative algorithms. More... | |
RowMatrix6 | M6tmpR |
RowMatrix6 | M6tmpR2 |
std::vector< Scalar > | mass |
Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint . The element mass[0] corresponds to the total mass of the model. More... | |
RowMatrixXs | Minv |
The inverse of the joint space inertia matrix (a square matrix of dim model.nv). More... | |
VectorXs | nle |
Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects. More... | |
std::vector< int > | nvSubtree |
Dimension of the subtree motion space (for CRBA) More... | |
std::vector< int > | nvSubtree_fromRow |
Subtree of the current row index (used in Cholesky Decomposition). More... | |
std::vector< int > | parents_fromRow |
First previous non-zero row in M (used in Cholesky Decomposition). More... | |
Scalar | potential_energy |
Potential energy of the model. More... | |
Matrix6x | psid |
psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj More... | |
Matrix6x | psidd |
psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Matrix6x | SDinv |
Used in computeMinverse. More... | |
MatrixXs | sDUiJt |
Temporary corresponding to . More... | |
std::vector< int > | start_idx_v_fromRow |
Starting index of the Joint motion subspace. More... | |
Matrix3x | staticRegressor |
Matrix related to static regressor. More... | |
std::vector< std::vector< int > > | supports_fromRow |
Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it. More... | |
TangentVectorType | tau |
Vector of joint torques (dim model.nv). More... | |
VectorXs | tmp |
Temporary of size NV used in Cholesky Decomposition. More... | |
VectorXs | torque_residual |
Temporary corresponding to the residual torque . More... | |
TangentVectorType | u |
Intermediate quantity corresponding to apparent torque [ABA]. More... | |
MatrixXs | U |
Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition. More... | |
Matrix6x | UDinv |
Used in computeMinverse. More... | |
Private Member Functions | |
void | computeLastChild (const Model &model) |
void | computeParents_fromRow (const Model &model) |
void | computeSupports_fromRow (const Model &model) |
Definition at line 29 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,6,10,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::BodyRegressorType |
The type of the body regressor.
Definition at line 82 of file multibody/data.hpp.
typedef VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ConfigVectorType |
Dense vectorized version of a joint configuration vector.
Definition at line 66 of file multibody/data.hpp.
typedef ForceTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Force |
Definition at line 43 of file multibody/data.hpp.
typedef FrameTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Frame |
Definition at line 45 of file multibody/data.hpp.
typedef pinocchio::FrameIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::FrameIndex |
Definition at line 50 of file multibody/data.hpp.
typedef pinocchio::GeomIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::GeomIndex |
Definition at line 49 of file multibody/data.hpp.
typedef pinocchio::Index pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Index |
Definition at line 47 of file multibody/data.hpp.
typedef std::vector<Index> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::IndexVector |
Definition at line 51 of file multibody/data.hpp.
typedef InertiaTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Inertia |
Definition at line 44 of file multibody/data.hpp.
typedef JointCollectionTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointCollection |
Definition at line 37 of file multibody/data.hpp.
typedef JointDataTpl<Scalar,Options,JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointData |
Definition at line 54 of file multibody/data.hpp.
typedef pinocchio::JointIndex pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointIndex |
Definition at line 48 of file multibody/data.hpp.
typedef JointModelTpl<Scalar,Options,JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JointModel |
Definition at line 53 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,3,Eigen::Dynamic,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix3x |
The 3d jacobian type (temporary)
Definition at line 75 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,6,6,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix6 |
Definition at line 77 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Matrix6x |
The 6d jacobian type (temporary)
Definition at line 73 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::MatrixXs |
Definition at line 59 of file multibody/data.hpp.
typedef ModelTpl<Scalar,Options,JointCollectionTpl> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Model |
Definition at line 39 of file multibody/data.hpp.
typedef MotionTpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Motion |
Definition at line 42 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,6,6,Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::RowMatrix6 |
Definition at line 78 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::RowMatrixXs |
Definition at line 79 of file multibody/data.hpp.
typedef SE3Tpl<Scalar,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::SE3 |
Definition at line 41 of file multibody/data.hpp.
typedef VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::TangentVectorType |
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).
Definition at line 70 of file multibody/data.hpp.
typedef Tensor<Scalar,3,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Tensor3x |
The type of Tensor for Kinematics and Dynamics second order derivatives
Definition at line 85 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,3,1,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector3 |
Definition at line 61 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 6, 1, Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector6c |
Definition at line 62 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar, 1, 6, Eigen::RowMajor | Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Vector6r |
Definition at line 63 of file multibody/data.hpp.
typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::VectorXs |
Definition at line 60 of file multibody/data.hpp.
anonymous enum |
Enumerator | |
---|---|
Options |
Definition at line 35 of file multibody/data.hpp.
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explicit |
Default constructor of pinocchio::Data from a pinocchio::Model.
[in] | model | The model structure of the rigid body system. |
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inline |
Default constructor.
Definition at line 408 of file multibody/data.hpp.
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private |
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private |
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private |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of spatial momenta expressed in the local frame of the joint.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Force | ) |
Vector of spatial momenta expressed in the world frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Inertia | ) |
Rigid Body Inertia supported by the joint expressed in the world frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Inertia | ) |
Composite Rigid Body Inertia expressed in the world frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Inertia | ) |
Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..
typedef pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | JointData | ) |
typedef pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | JointModel | ) |
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Combined variations of the inertia matrix consistent with Christoffel symbols.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Time variation of Composite Rigid Body Inertia expressed in the world frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Vector of sub-tree composite rigid body inertia time derivatives . See Data::Ycrb for more details.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Left variation of the inertia matrix.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Right variation of the inertia matrix.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6 | ) |
Inertia matrix of the subtree expressed as dense matrix [ABA].
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Matrix6x | ) |
Spatial forces set, used in CRBA and CCRBA.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed at the centers of the joints frames.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations due to the gravity field.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed at the origin of the world.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint accelerations expressed at the origin of the world including gravity contribution.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint velocities expressed at the origin.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Motion | ) |
Vector of joint velocities expressed at the centers of the joints.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of joint placements wrt to algorithm end effector.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of relative joint placements (wrt the body parent).
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of absolute operationnel frame placements (wrt the world).
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | SE3 | ) |
Vector of absolute joint placements (wrt the world).
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Vector3 | ) |
Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint and expressed in the joint frame . The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Vector3 | ) |
Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint and expressed in the joint frame . The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.
pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR | ( | Vector3 | ) |
Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint and expressed in the joint frame . The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Ag |
Centroidal Momentum Matrix.
Definition at line 221 of file multibody/data.hpp.
BodyRegressorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::bodyRegressor |
Body regressor.
Definition at line 372 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::C |
The Coriolis matrix (a square matrix of dim model.nv).
Definition at line 159 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::D |
Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition.
Definition at line 263 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dadq |
SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration.
Definition at line 396 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dqdq |
SO Partial derivative of the joint torque vector with respect to the joint configuration.
Definition at line 382 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dqdv |
SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity.
Definition at line 390 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::d2tau_dvdv |
SO Partial derivative of the joint torque vector with respect to the joint velocity.
Definition at line 386 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAdq |
Variation of the spatial acceleration set with respect to the joint configuration.
Definition at line 303 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAdv |
Variation of the spatial acceleration set with respect to the joint velocity.
Definition at line 306 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dAg |
Centroidal Momentum Matrix Time Variation.
Definition at line 226 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddJ |
Second derivative of the Jacobian with respect to the time.
Definition at line 289 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq |
The joint accelerations computed from ABA.
Definition at line 209 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq_dq |
Partial derivative of the joint acceleration vector with respect to the joint configuration.
Definition at line 315 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::ddq_dv |
Partial derivative of the joint acceleration vector with respect to the joint velocity.
Definition at line 318 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFda |
Variation of the forceset with respect to the joint acceleration.
Definition at line 171 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFdq |
Variation of the forceset with respect to the joint configuration.
Definition at line 165 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dFdv |
Variation of the forceset with respect to the joint velocity.
Definition at line 168 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dHdq |
Variation of the spatial momenta with respect to the joint configuration.
Definition at line 162 of file multibody/data.hpp.
Force pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dhg |
Centroidal momentum time derivative.
Definition at line 238 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Dinv |
Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition.
Definition at line 266 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dJ |
Derivative of the Jacobian with respect to the time.
Definition at line 286 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dq_after |
Generalized velocity after impact.
Definition at line 363 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dtau_dq |
Partial derivative of the joint torque vector with respect to the joint configuration.
Definition at line 309 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dtau_dv |
Partial derivative of the joint torque vector with respect to the joint velocity.
Definition at line 312 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::dVdq |
Variation of the spatial velocity set with respect to the joint configuration.
Definition at line 300 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::end_idx_v_fromRow |
End index of the Joint motion subspace.
Definition at line 257 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::g |
Vector of generalized gravity (dim model.nv).
Definition at line 140 of file multibody/data.hpp.
Force pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::hg |
Centroidal momentum quantity.
Definition at line 232 of file multibody/data.hpp.
Inertia pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Ig |
Centroidal Composite Rigid Body Inertia.
Definition at line 242 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::impulse_c |
Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.
Definition at line 366 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::IS |
Used in computeMinverse.
Definition at line 180 of file multibody/data.hpp.
Matrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Itmp |
Temporary for derivative algorithms.
Definition at line 201 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::J |
Jacobian of joint placements.
Definition at line 283 of file multibody/data.hpp.
Matrix3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Jcom |
Jacobian of center of mass.
Definition at line 337 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::JMinvJt |
Inverse of the operational-space inertia matrix.
Definition at line 348 of file multibody/data.hpp.
JointDataVector pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::joints |
Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.
Definition at line 89 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::jointTorqueRegressor |
Matrix related to joint torque regressor.
Definition at line 375 of file multibody/data.hpp.
Tensor3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::kinematic_hessians |
Tensor containing the kinematic Hessian of all the joints.
Definition at line 378 of file multibody/data.hpp.
Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::kinetic_energy |
Kinetic energy of the model.
Definition at line 340 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::lambda_c |
Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.
Definition at line 354 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::lastChild |
Index of the last child (for CRBA)
Definition at line 248 of file multibody/data.hpp.
Eigen::LLT<MatrixXs> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::llt_JMinvJt |
Cholesky decompostion of .
Definition at line 351 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M |
The joint space inertia matrix (a square matrix of dim model.nv).
Definition at line 153 of file multibody/data.hpp.
Matrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmp |
Temporary for derivative algorithms.
Definition at line 204 of file multibody/data.hpp.
RowMatrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmpR |
Definition at line 205 of file multibody/data.hpp.
RowMatrix6 pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::M6tmpR2 |
Definition at line 206 of file multibody/data.hpp.
std::vector<Scalar> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::mass |
Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint . The element mass[0] corresponds to the total mass of the model.
Definition at line 333 of file multibody/data.hpp.
RowMatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Minv |
The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
Definition at line 156 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nle |
Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.
Definition at line 135 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nvSubtree |
Dimension of the subtree motion space (for CRBA)
Definition at line 251 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::nvSubtree_fromRow |
Subtree of the current row index (used in Cholesky Decomposition).
Definition at line 279 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::parents_fromRow |
First previous non-zero row in M (used in Cholesky Decomposition).
Definition at line 272 of file multibody/data.hpp.
Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::potential_energy |
Potential energy of the model.
Definition at line 343 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::psid |
psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj
Definition at line 293 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::psidd |
psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj
Definition at line 297 of file multibody/data.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Scalar |
Definition at line 34 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::SDinv |
Used in computeMinverse.
Definition at line 174 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::sDUiJt |
Temporary corresponding to .
Definition at line 357 of file multibody/data.hpp.
std::vector<int> pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::start_idx_v_fromRow |
Starting index of the Joint motion subspace.
Definition at line 254 of file multibody/data.hpp.
Matrix3x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::staticRegressor |
Matrix related to static regressor.
Definition at line 369 of file multibody/data.hpp.
std::vector< std::vector<int> > pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::supports_fromRow |
Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it.
Definition at line 276 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::tau |
Vector of joint torques (dim model.nv).
Definition at line 130 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::tmp |
Temporary of size NV used in Cholesky Decomposition.
Definition at line 269 of file multibody/data.hpp.
VectorXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::torque_residual |
Temporary corresponding to the residual torque .
Definition at line 360 of file multibody/data.hpp.
TangentVectorType pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::u |
Intermediate quantity corresponding to apparent torque [ABA].
Definition at line 216 of file multibody/data.hpp.
MatrixXs pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::U |
Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.
Definition at line 260 of file multibody/data.hpp.
Matrix6x pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::UDinv |
Used in computeMinverse.
Definition at line 177 of file multibody/data.hpp.