src/algorithm/rnea.cpp
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #include "pinocchio/algorithm/rnea.hpp"
6 
7 namespace pinocchio
8 {
9  namespace impl
10  {
11  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs & rnea<
12  context::Scalar,
13  context::Options,
14  JointCollectionDefaultTpl,
15  Eigen::Ref<const context::VectorXs>,
16  Eigen::Ref<const context::VectorXs>,
17  Eigen::Ref<const context::VectorXs>>(
18  const context::Model &,
19  context::Data &,
20  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
21  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
22  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
23 
24  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs & rnea<
25  context::Scalar,
26  context::Options,
27  JointCollectionDefaultTpl,
28  Eigen::Ref<const context::VectorXs>,
29  Eigen::Ref<const context::VectorXs>,
30  Eigen::Ref<const context::VectorXs>,
31  context::Force>(
32  const context::Model &,
33  context::Data &,
34  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
35  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
36  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
37  const container::aligned_vector<context::Force> &);
38 
39  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs &
40  nonLinearEffects<
41  context::Scalar,
42  context::Options,
43  JointCollectionDefaultTpl,
44  Eigen::Ref<const context::VectorXs>,
45  Eigen::Ref<const context::VectorXs>>(
46  const context::Model &,
47  context::Data &,
48  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
49  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
50 
51  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs &
52  computeGeneralizedGravity<
53  context::Scalar,
54  context::Options,
55  JointCollectionDefaultTpl,
56  Eigen::Ref<const context::VectorXs>>(
57  const context::Model &,
58  context::Data &,
59  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
60 
61  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::VectorXs &
62  computeStaticTorque<
63  context::Scalar,
64  context::Options,
65  JointCollectionDefaultTpl,
66  Eigen::Ref<const context::VectorXs>>(
67  const context::Model &,
68  context::Data &,
69  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
70  const container::aligned_vector<context::Force> &);
71 
72  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::MatrixXs &
73  computeCoriolisMatrix<
74  context::Scalar,
75  context::Options,
76  JointCollectionDefaultTpl,
77  Eigen::Ref<const context::VectorXs>,
78  Eigen::Ref<const context::VectorXs>>(
79  const context::Model &,
80  context::Data &,
81  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
82  const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
83  } // namespace impl
84  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::MatrixXs &
85  getCoriolisMatrix<context::Scalar, context::Options, JointCollectionDefaultTpl>(
86  const context::Model &, context::Data &);
87 } // namespace pinocchio
pinocchio::context::Model
ModelTpl< Scalar, Options > Model
Definition: context/generic.hpp:56
rnea.hpp
pinocchio::context::Force
ForceTpl< Scalar, Options > Force
Definition: context/generic.hpp:75
pinocchio::context::VectorXs
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
Definition: context/generic.hpp:47
pinocchio::context::MatrixXs
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
Definition: context/generic.hpp:49
pinocchio::computeStaticTorque
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & computeStaticTorque(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext)
Computes the generalized static torque contribution of the Lagrangian dynamics:
pinocchio::nonLinearEffects
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & nonLinearEffects(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects),...
pinocchio::context::Options
@ Options
Definition: context/generic.hpp:45
pinocchio::rnea
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & rnea(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)
The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques accordi...
pinocchio::context::Data
DataTpl< Scalar, Options > Data
Definition: context/generic.hpp:57
pinocchio::computeCoriolisMatrix
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & computeCoriolisMatrix(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Coriolis Matrix of the Lagrangian dynamics:
pinocchio::context::Scalar
PINOCCHIO_SCALAR_TYPE Scalar
Definition: context/generic.hpp:42
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27
pinocchio::computeGeneralizedGravity
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & computeGeneralizedGravity(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the generalized gravity contribution of the Lagrangian dynamics:

pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:12