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5 #ifndef __pinocchio_algorithm_centroidal_hpp__
6 #define __pinocchio_algorithm_centroidal_hpp__
29 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
31 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
32 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
55 template<
typename,
int>
class JointCollectionTpl,
56 typename ConfigVectorType,
57 typename TangentVectorType>
59 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
60 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
61 const Eigen::MatrixBase<ConfigVectorType> &
q,
62 const Eigen::MatrixBase<TangentVectorType> &
v);
81 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
84 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
85 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
113 template<
typename,
int>
class JointCollectionTpl,
114 typename ConfigVectorType,
115 typename TangentVectorType1,
116 typename TangentVectorType2>
119 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
120 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
121 const Eigen::MatrixBase<ConfigVectorType> &
q,
122 const Eigen::MatrixBase<TangentVectorType1> &
v,
123 const Eigen::MatrixBase<TangentVectorType2> &
a);
147 template<
typename,
int>
class JointCollectionTpl,
148 typename ConfigVectorType,
149 typename TangentVectorType>
151 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
152 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
153 const Eigen::MatrixBase<ConfigVectorType> &
q,
154 const Eigen::MatrixBase<TangentVectorType> &
v);
174 template<
typename,
int>
class JointCollectionTpl,
175 typename ConfigVectorType>
177 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
178 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
179 const Eigen::MatrixBase<ConfigVectorType> &
q);
206 template<
typename,
int>
class JointCollectionTpl,
207 typename ConfigVectorType,
208 typename TangentVectorType>
210 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
211 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
212 const Eigen::MatrixBase<ConfigVectorType> &
q,
213 const Eigen::MatrixBase<TangentVectorType> &
v);
236 template<
typename,
int>
class JointCollectionTpl,
237 typename ConfigVectorType,
238 typename TangentVectorType>
241 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
242 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
243 const Eigen::MatrixBase<ConfigVectorType> &
q,
244 const Eigen::MatrixBase<TangentVectorType> &
v);
249 #include "pinocchio/algorithm/centroidal.hxx"
251 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
252 #include "pinocchio/algorithm/centroidal.txx"
253 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
255 #endif // ifndef __pinocchio_algorithm_centroidal_hpp__
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & dccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration...
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMapTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix time derivative.
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMap(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the Centroidal Momentum Matrix.
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & ccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal m...
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentumTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
ForceTpl< Scalar, Options > Force
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentum(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center ...
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:06