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40 "computeStaticRegressor",
41 &computeStaticRegressor<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
42 bp::args(
"model",
"data",
"q"),
43 "Compute the static regressor that links the inertia parameters of the system to its "
44 "center of mass position,\n"
45 "store the result in context::Data and return it.\n\n"
47 "\tmodel: model of the kinematic tree\n"
48 "\tdata: data related to the model\n"
49 "\tq: the joint configuration vector (size model.nq)\n",
50 bp::return_value_policy<bp::return_by_value>());
54 "Computes the regressor for the dynamic parameters of a single rigid body.\n"
55 "The result is such that "
56 "Ia + v x Iv = bodyRegressor(v,a) * I.toDynamicParameters()\n\n"
58 "\tvelocity: spatial velocity of the rigid body\n"
59 "\tacceleration: spatial acceleration of the rigid body\n");
63 "Compute the regressor for the dynamic parameters of a rigid body attached to a "
65 "This algorithm assumes RNEA has been run to compute the acceleration and "
66 "gravitational effects.\n\n"
68 "\tmodel: model of the kinematic tree\n"
69 "\tdata: data related to the model\n"
70 "\tjoint_id: index of the joint\n");
74 "Computes the regressor for the dynamic parameters of a rigid body attached to a "
76 "This algorithm assumes RNEA has been run to compute the acceleration and "
77 "gravitational effects.\n\n"
79 "\tmodel: model of the kinematic tree\n"
80 "\tdata: data related to the model\n"
81 "\tframe_id: index of the frame\n");
84 "computeJointTorqueRegressor",
87 bp::args(
"model",
"data",
"q",
"v",
"a"),
88 "Compute the joint torque regressor that links the joint torque "
89 "to the dynamic parameters of each link according to the current the robot motion,\n"
90 "store the result in context::Data and return it.\n\n"
92 "\tmodel: model of the kinematic tree\n"
93 "\tdata: data related to the model\n"
94 "\tq: the joint configuration vector (size model.nq)\n"
95 "\tv: the joint velocity vector (size model.nv)\n"
96 "\ta: the joint acceleration vector (size model.nv)\n",
97 bp::return_value_policy<bp::return_by_value>());
100 "computeKineticEnergyRegressor",
101 &computeKineticEnergyRegressor<
103 bp::args(
"model",
"data",
"q",
"v"),
104 "Compute the kinetic energy regressor that links the kinetic energy"
105 "to the dynamic parameters of each link according to the current the robot motion,\n"
106 "store the result in context::Data and return it.\n\n"
108 "\tmodel: model of the kinematic tree\n"
109 "\tdata: data related to the model\n"
110 "\tq: the joint configuration vector (size model.nq)\n"
111 "\tv: the joint velocity vector (size model.nv)\n",
112 bp::return_value_policy<bp::return_by_value>());
115 "computePotentialEnergyRegressor",
116 &computePotentialEnergyRegressor<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
117 bp::args(
"model",
"data",
"q"),
118 "Compute the potential energy regressor that links the potential energy"
119 "to the dynamic parameters of each link according to the current the robot motion,\n"
120 "store the result in context::Data and return it.\n\n"
122 "\tmodel: model of the kinematic tree\n"
123 "\tdata: data related to the model\n"
124 "\tq: the joint configuration vector (size model.nq)\n",
125 bp::return_value_policy<bp::return_by_value>());
context::MatrixXs jointBodyRegressor_proxy(const context::Model &model, context::Data &data, const JointIndex jointId)
context::MatrixXs frameBodyRegressor_proxy(const context::Model &model, context::Data &data, const FrameIndex frameId)
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & computeJointTorqueRegressor(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 > &a)
Computes the joint torque regressor that links the joint torque to the dynamic parameters of each lin...
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & frameBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex frame_id)
Computes the regressor for the dynamic parameters of a rigid body attached to a given frame,...
context::VectorXs VectorXs
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
context::MatrixXs bodyRegressor_proxy(const context::Motion &v, const context::Motion &a)
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType & jointBodyRegressor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, JointIndex joint_id)
Computes the regressor for the dynamic parameters of a rigid body attached to a given joint,...
void bodyRegressor(const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > ®ressor)
Computes the regressor for the dynamic parameters of a single rigid body.
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
JointCollectionTpl & model
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09