frames-derivatives.hpp

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//
// Copyright (c) 2020 INRIA
//

#ifndef __pinocchio_algorithm_frames_derivatives_hpp__
#define __pinocchio_algorithm_frames_derivatives_hpp__

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

namespace pinocchio
{
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
  void
  getFrameVelocityDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                              DataTpl<Scalar,Options,JointCollectionTpl> & data,
                              const FrameIndex frame_id,
                              const ReferenceFrame rf,
                              const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
                              const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4>
  void
  getFrameAccelerationDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                  const FrameIndex frame_id,
                                  const ReferenceFrame rf,
                                  const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
                                  const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq,
                                  const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv,
                                  const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4, typename Matrix6xOut5>
  void
  getFrameAccelerationDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                  const FrameIndex frame_id,
                                  const ReferenceFrame rf,
                                  const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
                                  const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv,
                                  const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq,
                                  const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv,
                                  const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da);
}

#include "pinocchio/algorithm/frames-derivatives.hxx"

#endif // ifndef __pinocchio_algorithm_frames_derivatives_hpp__