centroidal.hpp

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//
// Copyright (c) 2015-2019 CNRS INRIA
//

#ifndef __pinocchio_algorithm_centroidal_hpp__
#define __pinocchio_algorithm_centroidal_hpp__

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

namespace pinocchio
{

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
  computeCentroidalMomentum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            DataTpl<Scalar,Options,JointCollectionTpl> & data);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
          typename ConfigVectorType, typename TangentVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
  computeCentroidalMomentum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Eigen::MatrixBase<ConfigVectorType> & q,
                            const Eigen::MatrixBase<TangentVectorType> & v)
  {
    forwardKinematics(model,data,q.derived(),v.derived());
    return computeCentroidalMomentum(model,data);
  }
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
  typename ConfigVectorType, typename TangentVectorType>
  PINOCCHIO_DEPRECATED
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
  computeCentroidalDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Eigen::MatrixBase<ConfigVectorType> & q,
                            const Eigen::MatrixBase<TangentVectorType> & v)
  {
    return computeCentroidalMomentum(model,data,q,v);
  }

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
  computeCentroidalMomentumTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                         DataTpl<Scalar,Options,JointCollectionTpl> & data);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
          typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
  computeCentroidalMomentumTimeVariation(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)
  {
    forwardKinematics(model,data,q,v,a);
    return computeCentroidalMomentumTimeVariation(model,data);
  }

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
          typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
  PINOCCHIO_DEPRECATED
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
  computeCentroidalDynamics(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)
  {
    return computeCentroidalMomentumTimeVariation(model,data,q,v,a);
  }

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
  ccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
        DataTpl<Scalar,Options,JointCollectionTpl> & data,
        const Eigen::MatrixBase<ConfigVectorType> & q,
        const Eigen::MatrixBase<TangentVectorType> & v);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
  computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                       DataTpl<Scalar,Options,JointCollectionTpl> & data,
                       const Eigen::MatrixBase<ConfigVectorType> & q);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
  dccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
         DataTpl<Scalar,Options,JointCollectionTpl> & data,
         const Eigen::MatrixBase<ConfigVectorType> & q,
         const Eigen::MatrixBase<TangentVectorType> & v);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
  computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                    DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                    const Eigen::MatrixBase<ConfigVectorType> & q,
                                    const Eigen::MatrixBase<TangentVectorType> & v);
  
} // namespace pinocchio

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

#endif // ifndef __pinocchio_algorithm_centroidal_hpp__