Namespaces | Functions
algorithm/aba.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/aba.hxx"
Include dependency graph for algorithm/aba.hpp:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces

 pinocchio
 Main pinocchio namespace.
 

Functions

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::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, const Convention rf=Convention::LOCAL)
 The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model and the external forces. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & pinocchio::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 Convention convention=Convention::LOCAL)
 The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & pinocchio::computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 Computes the inverse of the joint space inertia matrix using Articulated Body formulation. Compared to the complete signature computeMinverse<Scalar,Options,ConfigVectorType>, this version assumes that ABA has been called first. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & pinocchio::computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 Computes the inverse of the joint space inertia matrix using Articulated Body formulation. More...
 
 pinocchio::PINOCCHIO_DEFINE_ALGO_CHECKER (ABA)
 


pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:13