unittest/aba.cpp
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1 //
2 // Copyright (c) 2016-2021 CNRS INRIA
3 //
4 
11 
14 
15 #include <iostream>
16 
17 #include <boost/test/unit_test.hpp>
18 #include <boost/utility/binary.hpp>
19 
20 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
21 
22 template<typename JointModel>
24 {
25  std::cout << "shortname: " << jmodel.shortname() << std::endl;
27  typedef typename JointModel::ConfigVector_t ConfigVector_t;
28  typedef typename pinocchio::LieGroup<JointModel>::type LieGroupType;
29 
30  JointData jdata = jmodel.createData();
31 
32  ConfigVector_t ql(ConfigVector_t::Constant(jmodel.nq(), -M_PI));
33  ConfigVector_t qu(ConfigVector_t::Constant(jmodel.nq(), M_PI));
34 
35  ConfigVector_t q = LieGroupType().randomConfiguration(ql, qu);
36  pinocchio::Inertia::Matrix6 I(pinocchio::Inertia::Random().matrix());
37  pinocchio::Inertia::Matrix6 I_check = I;
38  const Eigen::VectorXd armature =
39  Eigen::VectorXd::Random(jmodel.nv()) + Eigen::VectorXd::Ones(jmodel.nv());
40 
41  jmodel.calc(jdata, q);
42  jmodel.calc_aba(jdata, armature, I, true);
43 
44  std::cout << "armature: " << armature.transpose() << std::endl;
45  Eigen::MatrixXd S = jdata.S.matrix();
46  Eigen::MatrixXd U_check = I_check * S;
47  Eigen::MatrixXd StU_check = S.transpose() * U_check;
48  StU_check.diagonal() += armature;
49  Eigen::MatrixXd Dinv_check = StU_check.inverse();
50  Eigen::MatrixXd UDinv_check = U_check * Dinv_check;
51  Eigen::MatrixXd update_check = UDinv_check * U_check.transpose();
52  I_check -= update_check;
53 
54  std::cout << "I_check:\n" << I_check << std::endl;
55  std::cout << "I:\n" << I << std::endl;
56  BOOST_CHECK(jdata.U.isApprox(U_check));
57  BOOST_CHECK(jdata.Dinv.isApprox(Dinv_check));
58  BOOST_CHECK(jdata.UDinv.isApprox(UDinv_check));
59 
60  // Checking the inertia was correctly updated
61  // We use isApprox as usual, except for the freeflyer,
62  // where the correct result is exacly zero and isApprox would fail.
63  // Only for this single case, we use the infinity norm of the difference
64  if (jmodel.shortname() == "JointModelFreeFlyer")
65  BOOST_CHECK((I - I_check).isZero());
66  else
67  BOOST_CHECK(I.isApprox(I_check));
68 }
69 
71 {
72 
73  template<typename JointModel>
75  {
76  JointModel jmodel;
77  jmodel.setIndexes(0, 0, 0);
78 
79  test_joint_methods(jmodel);
80  }
81 
83  {
84  pinocchio::JointModelComposite jmodel_composite;
85  jmodel_composite.addJoint(pinocchio::JointModelRX());
86  jmodel_composite.addJoint(pinocchio::JointModelRY());
87  jmodel_composite.setIndexes(0, 0, 0);
88 
89  // TODO: correct LieGroup
90  // test_joint_methods(jmodel_composite);
91  }
92 
94  {
95  pinocchio::JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
96  jmodel.setIndexes(0, 0, 0);
97 
98  test_joint_methods(jmodel);
99  }
100 
102  {
103  pinocchio::JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
104  jmodel.setIndexes(0, 0, 0);
105 
106  test_joint_methods(jmodel);
107  }
108 };
109 
110 BOOST_AUTO_TEST_CASE(test_joint_basic)
111 {
112  using namespace pinocchio;
113 
114  typedef boost::variant<
119  Variant;
120 
121  boost::mpl::for_each<Variant::types>(TestJointMethods());
122 }
123 
124 BOOST_AUTO_TEST_CASE(test_aba_simple)
125 {
126  using namespace Eigen;
127  using namespace pinocchio;
128 
131 
133  pinocchio::Data data_ref(model);
134 
135  model.lowerPositionLimit.head<7>().fill(-1.);
136  model.upperPositionLimit.head<7>().fill(1.);
137  VectorXd q = randomConfiguration(model);
138 
139  VectorXd v = VectorXd::Ones(model.nv);
140  VectorXd tau = VectorXd::Zero(model.nv);
141  VectorXd a = VectorXd::Ones(model.nv);
142 
143  tau = rnea(model, data_ref, q, v, a);
144  forwardKinematics(model, data_ref, q);
146 
147  for (size_t k = 1; k < (size_t)model.njoints; ++k)
148  {
149  BOOST_CHECK(data_ref.liMi[k].isApprox(data.liMi[k]));
150  BOOST_CHECK(data_ref.oMi[k].act(data_ref.v[k]).isApprox(data.ov[k]));
151  BOOST_CHECK((data_ref.oMi[k].act(data_ref.a_gf[k])).isApprox(data.oa_gf[k]));
152  }
153 
154  BOOST_CHECK(data.ddq.isApprox(a, 1e-12));
155 
156  // Test against deprecated ABA
157  Data data_deprecated(model);
158  aba(model, data_deprecated, q, v, tau, Convention::LOCAL);
159  BOOST_CHECK(data_deprecated.ddq.isApprox(data.ddq));
160 
161  // Test multiple calls
162  {
163  Data datas(model);
164  VectorXd a1 = aba(model, datas, q, v, tau, Convention::LOCAL);
165  VectorXd a2 = aba(model, datas, q, v, tau, Convention::LOCAL);
166  VectorXd a3 = aba(model, datas, q, v, tau, Convention::LOCAL);
167 
168  BOOST_CHECK(a1.isApprox(a2));
169  BOOST_CHECK(a1.isApprox(a3));
170  BOOST_CHECK(a2.isApprox(a3));
171  }
172 
173  // Test multiple calls
174  {
175  Data datas(model);
176  VectorXd a1 = aba(model, datas, q, v, tau, Convention::WORLD);
177  VectorXd a2 = aba(model, datas, q, v, tau, Convention::WORLD);
178  VectorXd a3 = aba(model, datas, q, v, tau, Convention::WORLD);
179 
180  BOOST_CHECK(a1.isApprox(a2));
181  BOOST_CHECK(a1.isApprox(a3));
182  BOOST_CHECK(a2.isApprox(a3));
183  }
184 }
185 
186 BOOST_AUTO_TEST_CASE(test_aba_with_fext)
187 {
188  using namespace Eigen;
189  using namespace pinocchio;
190 
193 
195 
196  model.lowerPositionLimit.head<7>().fill(-1.);
197  model.upperPositionLimit.head<7>().fill(1.);
198  VectorXd q = randomConfiguration(model);
199 
200  VectorXd v = VectorXd::Random(model.nv);
201  VectorXd a = VectorXd::Random(model.nv);
202 
203  PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext(model.joints.size(), Force::Random());
204 
208  data.M.triangularView<Eigen::StrictlyLower>() =
209  data.M.transpose().triangularView<Eigen::StrictlyLower>();
210 
211  VectorXd tau = data.M * a + data.nle;
212  Data::Matrix6x J = Data::Matrix6x::Zero(6, model.nv);
213  for (Model::Index i = 1; i < (Model::Index)model.njoints; ++i)
214  {
216  tau -= J.transpose() * fext[i].toVector();
217  J.setZero();
218  }
219  aba(model, data, q, v, tau, fext, Convention::WORLD);
220 
221  BOOST_CHECK(data.ddq.isApprox(a, 1e-12));
222 
223  // Test against deprecated ABA
224  Data data_deprecated(model);
225  aba(model, data_deprecated, q, v, tau, fext, Convention::LOCAL);
226  BOOST_CHECK(data_deprecated.ddq.isApprox(data.ddq));
227 }
228 
229 BOOST_AUTO_TEST_CASE(test_aba_vs_rnea)
230 {
231  using namespace Eigen;
232  using namespace pinocchio;
233 
236 
238  pinocchio::Data data_ref(model);
239 
240  model.lowerPositionLimit.head<7>().fill(-1.);
241  model.upperPositionLimit.head<7>().fill(1.);
242  VectorXd q = randomConfiguration(model);
243 
244  VectorXd v = VectorXd::Ones(model.nv);
245  VectorXd tau = VectorXd::Zero(model.nv);
246  VectorXd a = VectorXd::Ones(model.nv);
247 
248  crba(model, data_ref, q, Convention::WORLD);
249  nonLinearEffects(model, data_ref, q, v);
250  data_ref.M.triangularView<Eigen::StrictlyLower>() =
251  data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
252 
253  tau = data_ref.M * a + data_ref.nle;
255 
256  VectorXd tau_ref = rnea(model, data_ref, q, v, a);
257  BOOST_CHECK(tau_ref.isApprox(tau, 1e-12));
258  BOOST_CHECK(data.ddq.isApprox(a, 1e-12));
259 
260  Data data_deprecated(model);
261  aba(model, data_deprecated, q, v, tau, Convention::LOCAL);
262  BOOST_CHECK(data_deprecated.ddq.isApprox(a, 1e-12));
263 }
264 
265 BOOST_AUTO_TEST_CASE(test_computeMinverse)
266 {
267  using namespace Eigen;
268  using namespace pinocchio;
269 
272  model.gravity.setZero();
273 
275  pinocchio::Data data_ref(model);
276 
277  model.lowerPositionLimit.head<3>().fill(-1.);
278  model.upperPositionLimit.head<3>().fill(1.);
279  VectorXd q = randomConfiguration(model);
280  VectorXd v = VectorXd::Random(model.nv);
281 
282  crba(model, data_ref, q, Convention::WORLD);
283  data_ref.M.triangularView<Eigen::StrictlyLower>() =
284  data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
285  MatrixXd Minv_ref(data_ref.M.inverse());
286 
288 
289  BOOST_CHECK(data.Minv.topRows<6>().isApprox(Minv_ref.topRows<6>()));
290 
291  data.Minv.triangularView<Eigen::StrictlyLower>() =
292  data.Minv.transpose().triangularView<Eigen::StrictlyLower>();
293 
294  BOOST_CHECK(data.Minv.isApprox(Minv_ref));
295 
296  // std::cout << "Minv:\n" << data.Minv.block<10,10>(0,0) << std::endl;
297  // std::cout << "Minv_ref:\n" << Minv_ref.block<10,10>(0,0) << std::endl;
298  //
299  // std::cout << "Minv:\n" << data.Minv.bottomRows<10>() << std::endl;
300  // std::cout << "Minv_ref:\n" << Minv_ref.bottomRows<10>() << std::endl;
301 }
302 
303 BOOST_AUTO_TEST_CASE(test_computeMinverse_noupdate)
304 {
305  using namespace Eigen;
306  using namespace pinocchio;
307 
310  model.gravity.setZero();
311 
313  pinocchio::Data data_ref(model);
314 
315  model.lowerPositionLimit.head<3>().fill(-1.);
316  model.upperPositionLimit.head<3>().fill(1.);
317  VectorXd q = randomConfiguration(model);
318  VectorXd v = VectorXd::Random(model.nv);
319  VectorXd tau = VectorXd::Random(model.nv);
320 
321  crba(model, data_ref, q, Convention::WORLD);
322  data_ref.M.triangularView<Eigen::StrictlyLower>() =
323  data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
324  MatrixXd Minv_ref(data_ref.M.inverse());
325 
328  BOOST_CHECK(data.Minv.topRows<6>().isApprox(Minv_ref.topRows<6>()));
329 
330  data.Minv.triangularView<Eigen::StrictlyLower>() =
331  data.Minv.transpose().triangularView<Eigen::StrictlyLower>();
332 
333  BOOST_CHECK(data.Minv.isApprox(Minv_ref));
334 
335  Data data_ref2(model);
336  computeMinverse(model, data_ref2, q);
337  data_ref2.Minv.triangularView<Eigen::StrictlyLower>() =
338  data_ref2.Minv.transpose().triangularView<Eigen::StrictlyLower>();
339  BOOST_CHECK(data.Minv.isApprox(data_ref2.Minv));
340 }
341 
342 BOOST_AUTO_TEST_CASE(test_multiple_calls)
343 {
344  using namespace Eigen;
345  using namespace pinocchio;
346 
347  Model model;
349 
350  Data data1(model), data2(model);
351 
352  model.lowerPositionLimit.head<3>().fill(-1.);
353  model.upperPositionLimit.head<3>().fill(1.);
354  VectorXd q = randomConfiguration(model);
355 
356  computeMinverse(model, data1, q);
357  data2 = data1;
358 
359  for (int k = 0; k < 20; ++k)
360  {
361  computeMinverse(model, data1, q);
362  }
363 
364  BOOST_CHECK(data1.Minv.isApprox(data2.Minv));
365 }
366 
367 BOOST_AUTO_TEST_CASE(test_roto_inertia_effects)
368 {
371  model.armature = Eigen::VectorXd::Random(model.nv) + Eigen::VectorXd::Constant(model.nv, 1.);
372 
373  pinocchio::Data data(model), data_ref(model);
374 
375  Eigen::VectorXd q = randomConfiguration(model);
377  data_ref.M.triangularView<Eigen::StrictlyLower>() =
378  data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
379 
381  data.Minv.triangularView<Eigen::StrictlyLower>() =
382  data.Minv.transpose().triangularView<Eigen::StrictlyLower>();
383 
384  BOOST_CHECK((data.Minv * data_ref.M).isIdentity());
385 }
386 
387 BOOST_AUTO_TEST_SUITE_END()
pinocchio::JointModelRevoluteUnalignedTpl::setIndexes
void setIndexes(JointIndex id, int q, int v)
Definition: joint-model-base.hpp:186
pinocchio::JointModelBase::createData
JointDataDerived createData() const
Definition: joint-model-base.hpp:91
pinocchio::DataTpl::M
MatrixXs M
The joint space inertia matrix (a square matrix of dim model.nv).
Definition: multibody/data.hpp:199
pinocchio::WORLD
@ WORLD
Definition: multibody/fwd.hpp:48
TestJointMethods::operator()
void operator()(const pinocchio::JointModelBase< pinocchio::JointModelRevoluteUnaligned > &) const
Definition: unittest/aba.cpp:93
pinocchio::DataTpl::ddq
TangentVectorType ddq
The joint accelerations computed from ABA.
Definition: multibody/data.hpp:256
Eigen
TestJointMethods::operator()
void operator()(const pinocchio::JointModelBase< pinocchio::JointModelComposite > &) const
Definition: unittest/aba.cpp:82
pinocchio::JointModelFreeFlyer
JointModelFreeFlyerTpl< context::Scalar > JointModelFreeFlyer
Definition: multibody/joint/fwd.hpp:110
pinocchio::DataTpl
Definition: context/generic.hpp:25
pinocchio::JointModelTranslation
JointModelTranslationTpl< context::Scalar > JointModelTranslation
Definition: multibody/joint/fwd.hpp:126
pinocchio::forwardKinematics
void forwardKinematics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Update the joint placements according to the current joint configuration.
compute-all-terms.hpp
pinocchio::isZero
bool isZero(const Eigen::MatrixBase< MatrixLike > &m, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())
Definition: math/matrix.hpp:59
pinocchio::JointModelBase
Definition: joint-model-base.hpp:75
pinocchio::Convention::WORLD
@ WORLD
inverse-kinematics.i
int i
Definition: inverse-kinematics.py:17
pinocchio::JointModelRX
JointModelRevoluteTpl< context::Scalar, context::Options, 0 > JointModelRX
Definition: joint-revolute.hpp:873
setup.data
data
Definition: cmake/cython/setup.in.py:48
pinocchio::JointModelSpherical
JointModelSphericalTpl< context::Scalar > JointModelSpherical
Definition: multibody/joint/fwd.hpp:73
inverse-kinematics-3d.J
J
Definition: inverse-kinematics-3d.py:28
pinocchio::buildModels::humanoidRandom
void humanoidRandom(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
pinocchio::crba
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Convention convention=Convention::LOCAL)
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid B...
TestJointMethods::operator()
void operator()(const pinocchio::JointModelBase< pinocchio::JointModelPrismaticUnaligned > &) const
Definition: unittest/aba.cpp:101
pinocchio::aba
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...
pinocchio::computeJointJacobians
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeJointJacobians(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame....
TestJointMethods::operator()
void operator()(const pinocchio::JointModelBase< JointModel > &) const
Definition: unittest/aba.cpp:74
pinocchio::randomConfiguration
void randomConfiguration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
Generate a configuration vector uniformly sampled among provided limits.
Definition: joint-configuration.hpp:315
pinocchio::JointModelCompositeTpl::addJoint
JointModelDerived & addJoint(const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
Add a joint to the vector of joints.
Definition: joint-composite.hpp:278
rnea.hpp
timer.hpp
pinocchio::JointModelBase::calc_aba
void calc_aba(JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I=false) const
Definition: joint-model-base.hpp:131
pinocchio::computeMinverse
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.
aba.hpp
pinocchio::Index
PINOCCHIO_COMPILER_DIAGNOSTIC_POP typedef std::size_t Index
Definition: multibody/fwd.hpp:22
pinocchio::JointModelPlanar
JointModelPlanarTpl< context::Scalar > JointModelPlanar
Definition: multibody/joint/fwd.hpp:118
anymal-simulation.model
model
Definition: anymal-simulation.py:8
pinocchio::JointModelRY
JointModelRevoluteTpl< context::Scalar, context::Options, 1 > JointModelRY
Definition: joint-revolute.hpp:877
pinocchio::python::context::JointModel
JointModelTpl< Scalar, Options > JointModel
Definition: bindings/python/context/generic.hpp:69
forward-dynamics-derivatives.tau
tau
Definition: forward-dynamics-derivatives.py:25
joint-configuration.hpp
simulation-contact-dynamics.S
S
Definition: simulation-contact-dynamics.py:80
test_joint_methods
void test_joint_methods(const pinocchio::JointModelBase< JointModel > &jmodel)
Definition: unittest/aba.cpp:23
pinocchio::getJointJacobian
void getJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed in one of the pinocchio::ReferenceFrame opt...
pinocchio::DataTpl::Minv
RowMatrixXs Minv
The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
Definition: multibody/data.hpp:202
cartpole.v
v
Definition: cartpole.py:153
pinocchio::JointModelBase::shortname
std::string shortname() const
Definition: joint-model-base.hpp:214
pinocchio::ForceTpl
Definition: context/casadi.hpp:25
pinocchio::JointModelRZ
JointModelRevoluteTpl< context::Scalar, context::Options, 2 > JointModelRZ
Definition: joint-revolute.hpp:881
pinocchio::JointModelPY
JointModelPrismaticTpl< context::Scalar, context::Options, 1 > JointModelPY
Definition: joint-prismatic.hpp:781
pinocchio::InertiaTpl< context::Scalar, context::Options >::Random
static InertiaTpl Random()
Definition: spatial/inertia.hpp:361
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),...
q
q
pinocchio::JointModelBase::nq
int nq() const
Definition: joint-model-base.hpp:145
pinocchio::JointModelRevoluteTpl
Definition: multibody/joint/fwd.hpp:33
pinocchio::JointModelPZ
JointModelPrismaticTpl< context::Scalar, context::Options, 2 > JointModelPZ
Definition: joint-prismatic.hpp:785
pinocchio::JointModelRUBX
JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 0 > JointModelRUBX
Definition: joint-revolute-unbounded.hpp:264
a
Vec3f a
pinocchio::JointModelRevoluteUnalignedTpl
Definition: multibody/joint/fwd.hpp:38
pinocchio::JointModelPrismaticUnalignedTpl
Definition: multibody/joint/fwd.hpp:94
pinocchio::JointModelCompositeTpl
Definition: multibody/joint/fwd.hpp:141
pinocchio::ModelTpl::Index
pinocchio::Index Index
Definition: multibody/model.hpp:66
fill
fill
TestJointMethods
Definition: unittest/aba.cpp:70
BOOST_AUTO_TEST_CASE
BOOST_AUTO_TEST_CASE(test_joint_basic)
Definition: unittest/aba.cpp:110
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::JointModelBase::calc
void calc(JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
Definition: joint-model-base.hpp:107
pinocchio::JointModelPrismaticUnalignedTpl::setIndexes
void setIndexes(JointIndex id, int q, int v)
Definition: joint-model-base.hpp:186
pinocchio::DataTpl::Matrix6x
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
Definition: multibody/data.hpp:92
pinocchio::JointModelPX
JointModelPrismaticTpl< context::Scalar, context::Options, 0 > JointModelPX
Definition: joint-prismatic.hpp:777
pinocchio::python::context::JointData
JointDataTpl< Scalar, Options > JointData
Definition: bindings/python/context/generic.hpp:70
pinocchio::JointModelSphericalZYX
JointModelSphericalZYXTpl< context::Scalar > JointModelSphericalZYX
Definition: multibody/joint/fwd.hpp:81
PINOCCHIO_ALIGNED_STD_VECTOR
#define PINOCCHIO_ALIGNED_STD_VECTOR(Type)
Definition: container/aligned-vector.hpp:11
pinocchio::VectorSpaceOperationTpl
Definition: vector-space.hpp:16
pinocchio::JointModelRevoluteUnaligned
JointModelRevoluteUnalignedTpl< context::Scalar > JointModelRevoluteUnaligned
Definition: multibody/joint/fwd.hpp:38
pinocchio::JointModelBase::nv
int nv() const
Definition: joint-model-base.hpp:141
pinocchio::JointModelPrismaticUnaligned
JointModelPrismaticUnalignedTpl< context::Scalar > JointModelPrismaticUnaligned
Definition: multibody/joint/fwd.hpp:94
sample-models.hpp
jacobian.hpp
pinocchio::ModelTpl
Definition: context/generic.hpp:20
crba.hpp
pinocchio::JointModelRevoluteUnboundedTpl
Definition: multibody/joint/fwd.hpp:55
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27
pinocchio::DataTpl::nle
VectorXs nle
Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis,...
Definition: multibody/data.hpp:179
pinocchio::LOCAL
@ LOCAL
Definition: multibody/fwd.hpp:50
pinocchio::JointModelRUBY
JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 1 > JointModelRUBY
Definition: joint-revolute-unbounded.hpp:268


pinocchio
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autogenerated on Sun Dec 22 2024 03:41:05