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43 "Computes the inverse of the joint space inertia matrix using an extension of the "
44 "Articulated Body algorithm.\n"
45 "The result is stored in data.Minv.\n"
47 "\t model: Model of the kinematic tree\n"
48 "\t data: Data related to the kinematic tree\n"
49 "\t q: joint configuration (size model.nq)",
50 bp::return_value_policy<bp::return_by_value>());
53 "aba", &aba<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>,
54 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"q"), bp::arg(
"v"), bp::arg(
"tau"),
56 "Compute ABA, store the result in data.ddq and return it.\n"
58 "\t model: Model of the kinematic tree\n"
59 "\t data: Data related to the kinematic tree\n"
60 "\t q: joint configuration (size model.nq)\n"
61 "\t tau: joint velocity (size model.nv)\n"
62 "\t v: joint torque (size model.nv)"
63 "\t convention: Convention to use",
64 bp::return_value_policy<bp::return_by_value>());
70 (bp::arg(
"model"), bp::arg(
"data"), bp::arg(
"q"), bp::arg(
"v"), bp::arg(
"tau"),
72 "Compute ABA with external forces, store the result in data.ddq and return it.\n"
74 "\t model: Model of the kinematic tree\n"
75 "\t data: Data related to the kinematic tree\n"
76 "\t q: joint configuration (size model.nq)\n"
77 "\t v: joint velocity (size model.nv)\n"
78 "\t tau: joint torque (size model.nv)\n"
79 "\t fext: vector of external forces expressed in the local frame of the joint (size "
81 "\t convention: Convention to use",
82 bp::return_value_policy<bp::return_by_value>());
86 "Computes the inverse of the joint space inertia matrix using an extension of the "
87 "Articulated Body algorithm.\n"
88 "The result is stored in data.Minv.\n"
89 "Remarks: pinocchio.aba should have been called first.\n"
91 "\t model: Model of the kinematic tree\n"
92 "\t data: Data related to the kinematic tree",
93 bp::return_value_policy<bp::return_by_value>());
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options > RowMatrixXs
const context::Data::RowMatrixXs & computeMinverse_proxy(const context::Model &model, context::Data &data, const context::VectorXs &q)
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...
context::VectorXs VectorXs
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & 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.
void make_symmetric(const Eigen::MatrixBase< Matrix > &mat, const int mode=Eigen::Upper)
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
const context::Data::RowMatrixXs & computeMinverse_min_proxy(const context::Model &model, context::Data &data)
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09