algorithm/aba.hpp

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//
// Copyright (c) 2016-2018 CNRS
//

#ifndef __pinocchio_aba_hpp__
#define __pinocchio_aba_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"

namespace pinocchio
{
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  aba(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> & tau);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, typename ForceDerived>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  aba(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> & tau,
      const container::aligned_vector<ForceDerived> & fext);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::RowMatrixXs &
  computeMinverse(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<ConfigVectorType> & q);


  PINOCCHIO_DEFINE_ALGO_CHECKER(ABA);

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/aba.hxx"

#endif // ifndef __pinocchio_aba_hpp__