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38 const ForceAlignedVector & fext)
62 using namespace Eigen;
66 "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and "
67 "data.Minv (aka ddq_dtau)\n"
68 "which correspond to the partial derivatives of the joint acceleration vector output "
69 "with respect to the joint configuration,\n"
70 "velocity and torque vectors.\n\n"
72 "\tmodel: model of the kinematic tree\n"
73 "\tdata: data related to the model\n"
74 "\tq: the joint configuration vector (size model.nq)\n"
75 "\tv: the joint velocity vector (size model.nv)\n"
76 "\ttau: the joint torque vector (size model.nv)\n\n"
77 "Returns: (ddq_dq, ddq_dv, ddq_da)");
81 bp::args(
"model",
"data",
"q",
"v",
"tau",
"fext"),
82 "Computes the ABA derivatives with external contact foces,\n"
83 "store the result in data.ddq_dq, data.ddq_dv and data.Minv (aka ddq_dtau)\n"
84 "which correspond to the partial derivatives of the acceleration output with respect "
85 "to the joint configuration,\n"
86 "velocity and torque vectors.\n\n"
88 "\tmodel: model of the kinematic tree\n"
89 "\tdata: data related to the model\n"
90 "\tq: the joint configuration vector (size model.nq)\n"
91 "\tv: the joint velocity vector (size model.nv)\n"
92 "\ttau: the joint torque vector (size model.nv)\n"
93 "\tfext: list of external forces expressed in the local frame of the joints (size "
95 "Returns: (ddq_dq, ddq_dv, ddq_da)");
99 "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv\n"
100 "which correspond to the partial derivatives of the joint acceleration vector output with "
101 "respect to the joint configuration,\n"
102 "velocity and torque vectors.\n"
103 "By calling this function, the user assumes that pinocchio.optimized.aba has been called "
104 "first, allowing to significantly reduce the computation timings by not recalculating "
105 "intermediate results.");
109 "Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv\n"
110 "which correspond to the partial derivatives of the joint acceleration vector output with "
111 "respect to the joint configuration,\n"
112 "velocity and torque vectors.\n"
113 "By calling this function, the user assumes that pinocchio.optimized.aba has been called "
114 "first, allowing to significantly reduce the computation timings by not recalculating "
115 "intermediate results.");
bp::tuple computeABADerivatives_min_fext(const context::Model &model, context::Data &data, const ForceAlignedVector &fext)
bp::tuple computeABADerivatives_fext(const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &tau, const ForceAlignedVector &fext)
ForceTpl< Scalar, Options > Force
typedef PINOCCHIO_ALIGNED_STD_VECTOR(context::Force) ForceAlignedVector
void make_symmetric(const Eigen::MatrixBase< Matrix > &mat, const int mode=Eigen::Upper)
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
void exposeABADerivatives()
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
void computeABADerivatives(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 Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
The derivatives of the Articulated-Body algorithm.
bp::tuple computeABADerivatives_min(const context::Model &model, context::Data &data)
bp::tuple computeABADerivatives(const context::Model &model, context::Data &data, const context::VectorXs &q, const context::VectorXs &v, const context::VectorXs &tau)
Eigen::Ref< Matrix > make_ref(const Eigen::PlainObjectBase< Matrix > &mat)
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09