| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
#ifndef CROCODDYL_PINOCCHIO_MODEL_FACTORY_HXX_ |
| 10 |
|
|
#define CROCODDYL_PINOCCHIO_MODEL_FACTORY_HXX_ |
| 11 |
|
|
|
| 12 |
|
|
#include <pinocchio/algorithm/center-of-mass.hpp> |
| 13 |
|
|
#include <pinocchio/algorithm/centroidal-derivatives.hpp> |
| 14 |
|
|
#include <pinocchio/algorithm/centroidal.hpp> |
| 15 |
|
|
#include <pinocchio/algorithm/frames.hpp> |
| 16 |
|
|
#include <pinocchio/algorithm/jacobian.hpp> |
| 17 |
|
|
#include <pinocchio/algorithm/kinematics-derivatives.hpp> |
| 18 |
|
|
#include <pinocchio/algorithm/kinematics.hpp> |
| 19 |
|
|
#include <pinocchio/algorithm/rnea-derivatives.hpp> |
| 20 |
|
|
#include <pinocchio/fwd.hpp> |
| 21 |
|
|
#include <pinocchio/multibody/data.hpp> |
| 22 |
|
|
#include <pinocchio/multibody/geometry.hpp> |
| 23 |
|
|
#include <pinocchio/multibody/model.hpp> |
| 24 |
|
|
|
| 25 |
|
|
namespace crocoddyl { |
| 26 |
|
|
namespace unittest { |
| 27 |
|
|
/** |
| 28 |
|
|
* @brief Compute all the pinocchio data needed for the numerical |
| 29 |
|
|
* differentiation. We use the address of the object to avoid a copy from the |
| 30 |
|
|
* "boost::bind". |
| 31 |
|
|
* |
| 32 |
|
|
* @param model is the rigid body robot model. |
| 33 |
|
|
* @param data contains the results of the computations. |
| 34 |
|
|
* @param x is the state vector. |
| 35 |
|
|
*/ |
| 36 |
|
|
template <typename Scalar, int Options, |
| 37 |
|
|
template <typename, int> class JointCollectionTpl> |
| 38 |
|
✗ |
void updateAllPinocchio( |
| 39 |
|
|
pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>* const model, |
| 40 |
|
|
pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>* data, |
| 41 |
|
|
const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x, |
| 42 |
|
|
const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>&) { |
| 43 |
|
✗ |
const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& q = x.segment(0, model->nq); |
| 44 |
|
✗ |
const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& v = |
| 45 |
|
✗ |
x.segment(model->nq, model->nv); |
| 46 |
|
✗ |
Eigen::Matrix<Scalar, Eigen::Dynamic, 1> a = |
| 47 |
|
✗ |
Eigen::Matrix<Scalar, Eigen::Dynamic, 1>::Zero(model->nv); |
| 48 |
|
✗ |
Eigen::Matrix<Scalar, 6, Eigen::Dynamic> tmp; |
| 49 |
|
✗ |
tmp.resize(6, model->nv); |
| 50 |
|
✗ |
pinocchio::forwardKinematics(*model, *data, q, v, a); |
| 51 |
|
✗ |
pinocchio::computeForwardKinematicsDerivatives(*model, *data, q, v, a); |
| 52 |
|
✗ |
pinocchio::computeJointJacobians(*model, *data, q); |
| 53 |
|
✗ |
pinocchio::updateFramePlacements(*model, *data); |
| 54 |
|
✗ |
pinocchio::centerOfMass(*model, *data, q, v, a); |
| 55 |
|
✗ |
pinocchio::jacobianCenterOfMass(*model, *data, q); |
| 56 |
|
✗ |
pinocchio::computeCentroidalMomentum(*model, *data, q, v); |
| 57 |
|
✗ |
pinocchio::computeCentroidalDynamicsDerivatives(*model, *data, q, v, a, tmp, |
| 58 |
|
|
tmp, tmp, tmp); |
| 59 |
|
✗ |
pinocchio::computeRNEADerivatives(*model, *data, q, v, a); |
| 60 |
|
|
} |
| 61 |
|
|
|
| 62 |
|
|
} // namespace unittest |
| 63 |
|
|
} // namespace crocoddyl |
| 64 |
|
|
|
| 65 |
|
|
#endif // CROCODDYL_PINOCCHIO_MODEL_FACTORY_HXX_ |
| 66 |
|
|
|