pinocchio: rnea.hpp File Reference

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/rnea.hxx"

Include dependency graph for rnea.hpp:

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Namespaces
	pinocchio
	Main pinocchio namespace.

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	pinocchio::computeCoriolisMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Coriolis Matrix $C(q,\dot{q})$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray}$ More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	pinocchio::computeGeneralizedGravity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the generalized gravity contribution of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray}$ More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	pinocchio::computeStaticTorque (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext)
	Computes the generalized static torque contribution $g(q) - \sum J(q)^{\top} f_{\text{ext}}$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau + \sum J(q)^{\top} f_{\text{ext}} \end{eqnarray}$ . This torque vector accouts for the contribution of the gravity and the external forces. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	pinocchio::getCoriolisMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Retrives the Coriolis Matrix $C(q,\dot{q})$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray}$ after a call to the dynamics derivatives. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	pinocchio::nonLinearEffects (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the bias terms $b(q,\dot{q})$ of the Lagrangian dynamics: $\begin{eqnarray} M \ddot{q} + b(q, \dot{q}) = \tau \end{eqnarray}$ More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	pinocchio::rnea (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)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	pinocchio::rnea (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, const container::aligned_vector< ForceDerived > &fext)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system, the desired joint accelerations and the external forces. More...

Namespaces

Functions