bindings/python/context/generic.hpp
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1 //
2 // Copyright (c) 2021-2024 INRIA
3 //
4 
5 #ifndef __pinocchio_python_context_generic_hpp__
6 #define __pinocchio_python_context_generic_hpp__
7 
8 #include "pinocchio/fwd.hpp"
13 
14 #ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP
16  #ifdef PINOCCHIO_WITH_HPP_FCL
18  #endif
19 #endif
20 
22 
23 #include <Eigen/Sparse>
24 
25 namespace pinocchio
26 {
27  namespace python
28  {
29 
30  // Forward declaration
31  boost::python::object getScalarType();
33 
34  namespace context
35  {
36 
38  enum
39  {
40  Options = 0
41  };
42 
43  // Eigen
45  typedef Eigen::SparseMatrix<Scalar> SparseMatrix;
46  typedef Eigen::SparseMatrix<Scalar, Eigen::RowMajor> RowSparseMatrix;
47  typedef Eigen::Matrix<Scalar, 1, 1, Options, 1, 1> Matrix1s;
48  typedef Eigen::Matrix<Scalar, 7, 1, Options> Vector7s;
49  typedef Eigen::Quaternion<Scalar, Options> Quaternion;
50  typedef Eigen::AngleAxis<Scalar> AngleAxis;
51 
52  // Spatial
60 
61  // Multibody
65 
67 
68  // Joints
71 
74 
77 
80 
83 
86 
89 
92 
95 
98 
101 
104 
107 
110 
113 
116 
119 
122 
125 
128 
131 
134 
137 
140 
141  // Algorithm
144 
147 
150 
153 
155  CoulombFrictionConeVector;
157  DualCoulombFrictionConeVector;
159  RigidConstraintModelVector;
161  RigidConstraintDataVector;
162 
163 // Pool
164 #ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP
166 
167  #ifdef PINOCCHIO_WITH_HPP_FCL
169  #endif
170 
171 #endif
172 
173  } // namespace context
174  } // namespace python
175 } // namespace pinocchio
176 
177 #endif // #ifndef __pinocchio_python_context_generic_hpp__
pinocchio::InertiaTpl< Scalar, Options >
pinocchio::JointModelUniversalTpl
Definition: multibody/joint/fwd.hpp:102
pinocchio::PseudoInertiaTpl
A structure representing a pseudo inertia matrix.
Definition: spatial/fwd.hpp:62
fwd.hpp
pinocchio::JointModelRevoluteUnboundedUnalignedTpl
Definition: multibody/joint/fwd.hpp:46
pinocchio::python::context::RigidConstraintData
RigidConstraintDataTpl< Scalar, Options > RigidConstraintData
Definition: bindings/python/context/generic.hpp:146
pinocchio::JointDataFreeFlyerTpl
Definition: multibody/joint/fwd.hpp:114
pinocchio::python::context::JointDataTranslation
JointDataTranslationTpl< Scalar > JointDataTranslation
Definition: bindings/python/context/generic.hpp:136
pinocchio::JointModelHelicalTpl
Definition: multibody/joint/fwd.hpp:60
pinocchio::DataTpl
Definition: context/generic.hpp:25
pinocchio::CoulombFrictionConeTpl
&#160;
Definition: algorithm/constraints/coulomb-friction-cone.hpp:20
pinocchio::python::context::DualCoulombFrictionCone
DualCoulombFrictionConeTpl< context::Scalar > DualCoulombFrictionCone
Definition: bindings/python/context/generic.hpp:149
pinocchio::JointDataRevoluteUnalignedTpl
Definition: multibody/joint/fwd.hpp:42
pinocchio::python::context::ProximalSettings
ProximalSettingsTpl< Scalar > ProximalSettings
Definition: bindings/python/context/generic.hpp:142
pinocchio::python::context::JointModelPY
JointModelPrismaticTpl< Scalar, Options, 1 > JointModelPY
Definition: bindings/python/context/generic.hpp:106
pinocchio::JointModelPlanarTpl
Definition: multibody/joint/fwd.hpp:118
pinocchio::python::context::JointDataRX
JointDataRevoluteTpl< Scalar, Options, 0 > JointDataRX
Definition: bindings/python/context/generic.hpp:72
pinocchio::ModelPool
ModelPoolTpl< context::Scalar > ModelPool
Definition: multibody/pool/fwd.hpp:17
pinocchio::python::context::JointModelSpherical
JointModelSphericalTpl< Scalar > JointModelSpherical
Definition: bindings/python/context/generic.hpp:96
pinocchio::python::context::JointDataHY
JointDataHelicalTpl< Scalar, Options, 1 > JointDataHY
Definition: bindings/python/context/generic.hpp:117
PINOCCHIO_PYTHON_SCALAR_TYPE
#define PINOCCHIO_PYTHON_SCALAR_TYPE
Definition: bindings/python/context/casadi.hpp:10
pinocchio::python::context::JointDataHZ
JointDataHelicalTpl< Scalar, Options, 2 > JointDataHZ
Definition: bindings/python/context/generic.hpp:120
pinocchio::JointDataPrismaticTpl
Definition: multibody/joint/fwd.hpp:91
pinocchio::python::context::DelassusOperatorSparse
DelassusOperatorSparseTpl< Scalar, Options > DelassusOperatorSparse
Definition: bindings/python/context/generic.hpp:152
pinocchio::python::context::Frame
FrameTpl< Scalar, Options > Frame
Definition: bindings/python/context/generic.hpp:62
pinocchio::SE3Tpl< Scalar, Options >
pinocchio::python::context::DelassusOperatorDense
DelassusOperatorDenseTpl< Scalar, Options > DelassusOperatorDense
Definition: bindings/python/context/generic.hpp:151
fwd.hpp
pinocchio::python::context::JointModelSphericalZYX
JointModelSphericalZYXTpl< Scalar > JointModelSphericalZYX
Definition: bindings/python/context/generic.hpp:99
pinocchio::python::context::JointDataHelicalUnaligned
JointDataHelicalUnalignedTpl< Scalar > JointDataHelicalUnaligned
Definition: bindings/python/context/generic.hpp:124
pinocchio::python::context::Force
ForceTpl< Scalar, Options > Force
Definition: bindings/python/context/generic.hpp:55
pinocchio::python::context::JointDataRY
JointDataRevoluteTpl< Scalar, Options, 1 > JointDataRY
Definition: bindings/python/context/generic.hpp:75
pinocchio::DelassusOperatorSparseTpl
Definition: delassus-operator-sparse.hpp:127
pinocchio::python::context::JointDataPX
JointDataPrismaticTpl< Scalar, Options, 0 > JointDataPX
Definition: bindings/python/context/generic.hpp:102
pinocchio::python::Scalar
context::Scalar Scalar
Definition: admm-solver.cpp:29
pinocchio::python::context::JointModelRZ
JointModelRevoluteTpl< Scalar, Options, 2 > JointModelRZ
Definition: bindings/python/context/generic.hpp:79
pinocchio::DualCoulombFrictionConeTpl
&#160;
Definition: algorithm/constraints/coulomb-friction-cone.hpp:16
pinocchio::JointDataHelicalUnalignedTpl
Definition: multibody/joint/fwd.hpp:69
pinocchio::JointDataHelicalTpl
Definition: multibody/joint/fwd.hpp:62
pinocchio::JointDataTpl
Definition: multibody/joint/fwd.hpp:162
pinocchio::python::context::JointModelFreeFlyer
JointModelFreeFlyerTpl< Scalar > JointModelFreeFlyer
Definition: bindings/python/context/generic.hpp:126
pinocchio::JointModelTranslationTpl
Definition: multibody/joint/fwd.hpp:126
pinocchio::JointModelFreeFlyerTpl
Definition: multibody/joint/fwd.hpp:110
pinocchio::python::context::Motion
MotionTpl< Scalar, Options > Motion
Definition: bindings/python/context/generic.hpp:54
pinocchio::python::context::EIGENPY_MAKE_TYPEDEFS_ALL_SIZES
EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Scalar, Options, s)
pinocchio::python::context::Matrix1s
Eigen::Matrix< Scalar, 1, 1, Options, 1, 1 > Matrix1s
Definition: bindings/python/context/generic.hpp:47
pinocchio::python::context::JointDataUniversal
JointDataUniversalTpl< Scalar > JointDataUniversal
Definition: bindings/python/context/generic.hpp:133
pinocchio::python::context::Model
ModelTpl< Scalar, Options > Model
Definition: bindings/python/context/generic.hpp:63
pinocchio::python::context::JointModelPrismaticUnaligned
JointModelPrismaticUnalignedTpl< Scalar > JointModelPrismaticUnaligned
Definition: bindings/python/context/generic.hpp:111
pinocchio::python::context::JointDataPY
JointDataPrismaticTpl< Scalar, Options, 1 > JointDataPY
Definition: bindings/python/context/generic.hpp:105
pinocchio::python::context::JointDataSpherical
JointDataSphericalTpl< Scalar > JointDataSpherical
Definition: bindings/python/context/generic.hpp:97
pinocchio::python::context::Vector7s
Eigen::Matrix< Scalar, 7, 1, Options > Vector7s
Definition: bindings/python/context/generic.hpp:48
pinocchio::python::context::JointCollectionDefault
JointCollectionDefaultTpl< Scalar, Options > JointCollectionDefault
Definition: bindings/python/context/generic.hpp:66
pinocchio::FrameTpl
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
Definition: multibody/frame.hpp:55
pinocchio::python::context::JointModelRUBY
JointModelRevoluteUnboundedTpl< Scalar, Options, 1 > JointModelRUBY
Definition: bindings/python/context/generic.hpp:88
pinocchio::python::context::Quaternion
Eigen::Quaternion< Scalar, Options > Quaternion
Definition: bindings/python/context/generic.hpp:49
pinocchio::python::getScalarType
boost::python::object getScalarType()
Definition: boost_number.cpp:19
pinocchio::python::context::JointModelHelicalUnaligned
JointModelHelicalUnalignedTpl< Scalar > JointModelHelicalUnaligned
Definition: bindings/python/context/generic.hpp:123
pinocchio::python::context::SparseMatrix
Eigen::SparseMatrix< Scalar > SparseMatrix
Definition: bindings/python/context/generic.hpp:45
pinocchio::JointDataPlanarTpl
Definition: multibody/joint/fwd.hpp:122
pinocchio::python::context::JointModel
JointModelTpl< Scalar, Options > JointModel
Definition: bindings/python/context/generic.hpp:69
pinocchio::python::context::Symmetric3
Symmetric3Tpl< Scalar, Options > Symmetric3
Definition: bindings/python/context/generic.hpp:59
pinocchio::python::context::JointDataSphericalZYX
JointDataSphericalZYXTpl< Scalar > JointDataSphericalZYX
Definition: bindings/python/context/generic.hpp:100
pinocchio::python::context::PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR
typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(CoulombFrictionCone) CoulombFrictionConeVector
pinocchio::JointDataTranslationTpl
Definition: multibody/joint/fwd.hpp:130
pinocchio::JointModelPrismaticTpl
Definition: multibody/joint/fwd.hpp:89
pinocchio::ProximalSettingsTpl
Structure containing all the settings parameters for the proximal algorithms.
Definition: algorithm/fwd.hpp:13
pinocchio::GeometryPool
GeometryPoolTpl< context::Scalar > GeometryPool
Definition: multibody/pool/fwd.hpp:24
pinocchio::RigidConstraintModelTpl
Definition: algorithm/constraints/fwd.hpp:14
pinocchio::python::context::Data
DataTpl< Scalar, Options > Data
Definition: bindings/python/context/generic.hpp:64
pinocchio::python::exposeSpecificTypeFeatures
void exposeSpecificTypeFeatures()
Definition: boost_number.cpp:14
pinocchio::LogCholeskyParametersTpl
A structure representing log Cholesky parameters.
Definition: spatial/fwd.hpp:64
pinocchio::python::context::Inertia
InertiaTpl< Scalar, Options > Inertia
Definition: bindings/python/context/generic.hpp:56
pinocchio::python::context::JointDataFreeFlyer
JointDataFreeFlyerTpl< Scalar > JointDataFreeFlyer
Definition: bindings/python/context/generic.hpp:127
pinocchio::python::context::JointDataRUBZ
JointDataRevoluteUnboundedTpl< Scalar, Options, 2 > JointDataRUBZ
Definition: bindings/python/context/generic.hpp:90
python
pinocchio::JointModelTpl
Definition: multibody/joint/fwd.hpp:155
pinocchio::JointDataRevoluteTpl
Definition: multibody/joint/fwd.hpp:35
pinocchio::RigidConstraintDataTpl
Definition: algorithm/constraints/fwd.hpp:16
pinocchio::JointModelHelicalUnalignedTpl
Definition: multibody/joint/fwd.hpp:65
pinocchio::ForceTpl< Scalar, Options >
pinocchio::python::context::JointModelTranslation
JointModelTranslationTpl< Scalar > JointModelTranslation
Definition: bindings/python/context/generic.hpp:135
pinocchio::ModelPoolTpl
Definition: multibody/pool/fwd.hpp:17
pinocchio::python::context::JointDataRUBY
JointDataRevoluteUnboundedTpl< Scalar, Options, 1 > JointDataRUBY
Definition: bindings/python/context/generic.hpp:87
pinocchio::python::context::JointModelHY
JointModelHelicalTpl< Scalar, Options, 1 > JointModelHY
Definition: bindings/python/context/generic.hpp:118
pinocchio::JointModelSphericalTpl
Definition: multibody/joint/fwd.hpp:73
pinocchio::python::context::JointDataPZ
JointDataPrismaticTpl< Scalar, Options, 2 > JointDataPZ
Definition: bindings/python/context/generic.hpp:108
pinocchio::python::context::JointModelHX
JointModelHelicalTpl< Scalar, Options, 0 > JointModelHX
Definition: bindings/python/context/generic.hpp:115
pinocchio::JointDataSphericalTpl
Definition: multibody/joint/fwd.hpp:77
pinocchio::python::context::ContactCholeskyDecomposition
ContactCholeskyDecompositionTpl< Scalar, Options > ContactCholeskyDecomposition
Definition: bindings/python/context/generic.hpp:143
pinocchio::python::context::JointModelHZ
JointModelHelicalTpl< Scalar, Options, 2 > JointModelHZ
Definition: bindings/python/context/generic.hpp:121
pinocchio::JointModelRevoluteTpl
Definition: multibody/joint/fwd.hpp:33
pinocchio::python::context::JointModelUniversal
JointModelUniversalTpl< Scalar > JointModelUniversal
Definition: bindings/python/context/generic.hpp:132
pinocchio::JointDataSphericalZYXTpl
Definition: multibody/joint/fwd.hpp:85
pinocchio::python::context::RowSparseMatrix
Eigen::SparseMatrix< Scalar, Eigen::RowMajor > RowSparseMatrix
Definition: bindings/python/context/generic.hpp:46
pinocchio::python::context::Options
@ Options
Definition: bindings/python/context/generic.hpp:40
pinocchio::python::context::JointModelComposite
JointModelCompositeTpl< Scalar > JointModelComposite
Definition: bindings/python/context/generic.hpp:138
pinocchio::python::context::JointModelRevoluteUnaligned
JointModelRevoluteUnalignedTpl< Scalar > JointModelRevoluteUnaligned
Definition: bindings/python/context/generic.hpp:81
pinocchio::python::context::JointModelPlanar
JointModelPlanarTpl< Scalar > JointModelPlanar
Definition: bindings/python/context/generic.hpp:129
pinocchio::python::context::PseudoInertia
PseudoInertiaTpl< Scalar, Options > PseudoInertia
Definition: bindings/python/context/generic.hpp:57
pinocchio::python::context::JointModelRUBZ
JointModelRevoluteUnboundedTpl< Scalar, Options, 2 > JointModelRUBZ
Definition: bindings/python/context/generic.hpp:91
pinocchio::JointModelRevoluteUnalignedTpl
Definition: multibody/joint/fwd.hpp:38
pinocchio::JointModelPrismaticUnalignedTpl
Definition: multibody/joint/fwd.hpp:94
pinocchio::JointModelCompositeTpl
Definition: multibody/joint/fwd.hpp:141
pinocchio::Symmetric3Tpl
Definition: spatial/fwd.hpp:60
pinocchio::python::context::JointDataHX
JointDataHelicalTpl< Scalar, Options, 0 > JointDataHX
Definition: bindings/python/context/generic.hpp:114
pinocchio::python::context::JointModelRevoluteUnboundedUnaligned
JointModelRevoluteUnboundedUnalignedTpl< Scalar > JointModelRevoluteUnboundedUnaligned
Definition: bindings/python/context/generic.hpp:93
pinocchio::python::context::JointModelRY
JointModelRevoluteTpl< Scalar, Options, 1 > JointModelRY
Definition: bindings/python/context/generic.hpp:76
pinocchio::python::context::JointModelPX
JointModelPrismaticTpl< Scalar, Options, 0 > JointModelPX
Definition: bindings/python/context/generic.hpp:103
fwd.hpp
pinocchio::python::context::LogCholeskyParameters
LogCholeskyParametersTpl< Scalar, Options > LogCholeskyParameters
Definition: bindings/python/context/generic.hpp:58
pinocchio::python::context::JointDataRZ
JointDataRevoluteTpl< Scalar, Options, 2 > JointDataRZ
Definition: bindings/python/context/generic.hpp:78
pinocchio::JointModelSphericalZYXTpl
Definition: multibody/joint/fwd.hpp:81
fwd.hpp
pinocchio::JointDataRevoluteUnboundedUnalignedTpl
Definition: multibody/joint/fwd.hpp:50
pinocchio::JointDataCompositeTpl
Definition: multibody/joint/fwd.hpp:148
pinocchio::python::context::JointDataComposite
JointDataCompositeTpl< Scalar > JointDataComposite
Definition: bindings/python/context/generic.hpp:139
pinocchio::python::context::CoulombFrictionCone
CoulombFrictionConeTpl< context::Scalar > CoulombFrictionCone
Definition: bindings/python/context/generic.hpp:148
pinocchio::DelassusOperatorDenseTpl
Definition: delassus-operator-dense.hpp:29
pinocchio::python::context::JointDataRUBX
JointDataRevoluteUnboundedTpl< Scalar, Options, 0 > JointDataRUBX
Definition: bindings/python/context/generic.hpp:84
fwd.hpp
pinocchio::python::context::JointData
JointDataTpl< Scalar, Options > JointData
Definition: bindings/python/context/generic.hpp:70
pinocchio::python::context::JointDataPrismaticUnaligned
JointDataPrismaticUnalignedTpl< Scalar > JointDataPrismaticUnaligned
Definition: bindings/python/context/generic.hpp:112
pinocchio::python::context::JointModelRUBX
JointModelRevoluteUnboundedTpl< Scalar, Options, 0 > JointModelRUBX
Definition: bindings/python/context/generic.hpp:85
pinocchio::JointDataUniversalTpl
Definition: multibody/joint/fwd.hpp:106
pinocchio::ContactCholeskyDecompositionTpl
Definition: algorithm/fwd.hpp:17
pinocchio::python::context::SE3
SE3Tpl< Scalar, Options > SE3
Definition: bindings/python/context/generic.hpp:53
pinocchio::python::context::JointDataRevoluteUnaligned
JointDataRevoluteUnalignedTpl< Scalar > JointDataRevoluteUnaligned
Definition: bindings/python/context/generic.hpp:82
pinocchio::JointCollectionDefaultTpl
Definition: context/generic.hpp:15
pinocchio::MotionTpl< Scalar, Options >
pinocchio::ModelTpl
Definition: context/generic.hpp:20
pinocchio::python::context::JointModelPZ
JointModelPrismaticTpl< Scalar, Options, 2 > JointModelPZ
Definition: bindings/python/context/generic.hpp:109
fwd.hpp
pinocchio::JointDataPrismaticUnalignedTpl
Definition: multibody/joint/fwd.hpp:98
pinocchio::JointModelRevoluteUnboundedTpl
Definition: multibody/joint/fwd.hpp:55
eigen-typedef.hpp
pinocchio::python::context::AngleAxis
Eigen::AngleAxis< Scalar > AngleAxis
Definition: bindings/python/context/generic.hpp:50
fwd.hpp
pinocchio::python::context::RigidConstraintModel
RigidConstraintModelTpl< Scalar, Options > RigidConstraintModel
Definition: bindings/python/context/generic.hpp:145
pinocchio::python::context::Scalar
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
Definition: bindings/python/context/generic.hpp:37
pinocchio::JointDataRevoluteUnboundedTpl
Definition: multibody/joint/fwd.hpp:57
pinocchio::GeometryPoolTpl
Definition: multibody/pool/fwd.hpp:24
pinocchio::python::context::JointModelRX
JointModelRevoluteTpl< Scalar, Options, 0 > JointModelRX
Definition: bindings/python/context/generic.hpp:73
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27
pinocchio::python::context::JointDataPlanar
JointDataPlanarTpl< Scalar > JointDataPlanar
Definition: bindings/python/context/generic.hpp:130
pinocchio::python::context::JointDataRevoluteUnboundedUnaligned
JointDataRevoluteUnboundedUnalignedTpl< Scalar > JointDataRevoluteUnboundedUnaligned
Definition: bindings/python/context/generic.hpp:94


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autogenerated on Sun Dec 22 2024 03:41:09