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5 #ifndef __pinocchio_algorithm_parallel_aba_hpp__
6 #define __pinocchio_algorithm_parallel_aba_hpp__
35 template<
typename,
int>
class JointCollectionTpl,
36 typename ConfigVectorPool,
37 typename TangentVectorPool1,
38 typename TangentVectorPool2,
39 typename TangentVectorPool3>
43 const Eigen::MatrixBase<ConfigVectorPool> &
q,
44 const Eigen::MatrixBase<TangentVectorPool1> &
v,
45 const Eigen::MatrixBase<TangentVectorPool2> &
tau,
46 const Eigen::MatrixBase<TangentVectorPool3> &
a)
51 typedef typename Pool::ModelVector ModelVector;
52 typedef typename Pool::DataVector DataVector;
57 const ModelVector & models =
pool.getModels();
58 const Model & model_check = models[0];
59 DataVector & datas =
pool.getDatas();
60 TangentVectorPool3 &
res =
a.const_cast_derived();
73 Eigen::DenseIndex
i = 0;
75 #pragma omp parallel for schedule( \
76 static) // we use static here as this is the same computationnal cost for all threads
79 const int thread_id = omp_get_thread_num();
80 const Model &
model = models[(size_t)thread_id];
81 Data &
data = datas[(size_t)thread_id];
87 #endif // ifndef __pinocchio_algorithm_parallel_aba_hpp__
#define PINOCCHIO_CHECK_ARGUMENT_SIZE(...)
Macro to check if the size of an element is equal to the expected size.
#define PINOCCHIO_CHECK_INPUT_ARGUMENT(...)
Macro to check an assert-like condition and throw a std::invalid_argument exception (with a message) ...
const 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 Convention convention=Convention::LOCAL)
The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given t...
ModelTpl< Scalar, Options > Model
void abaInParallel(const size_t num_threads, ModelPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< TangentVectorPool1 > &v, const Eigen::MatrixBase< TangentVectorPool2 > &tau, const Eigen::MatrixBase< TangentVectorPool3 > &a)
A parallel version of the Articulated Body algorithm. It computes the forward dynamics,...
DataTpl< Scalar, Options > Data
DataTpl< context::Scalar, context::Options > Data
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
int nv
Dimension of the velocity vector space.
void set_default_omp_options(const size_t num_threads=(size_t) omp_get_max_threads())
int nq
Dimension of the configuration vector representation.
ModelTpl< context::Scalar, context::Options > Model
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:06