pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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aba-derivatives.hpp
1//
2// Copyright (c) 2018-2021 CNRS INRIA
3//
4
5#ifndef __pinocchio_algorithm_aba_derivatives_hpp__
6#define __pinocchio_algorithm_aba_derivatives_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10
11#include <type_traits>
12
13namespace pinocchio
14{
42 template<
43 typename Scalar,
44 int Options,
45 template<typename, int> class JointCollectionTpl,
46 typename ConfigVectorType,
47 typename TangentVectorType1,
48 typename TangentVectorType2,
49 typename MatrixType1,
50 typename MatrixType2,
51 typename MatrixType3>
52 void computeABADerivatives(
53 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
54 DataTpl<Scalar, Options, JointCollectionTpl> & data,
55 const Eigen::MatrixBase<ConfigVectorType> & q,
56 const Eigen::MatrixBase<TangentVectorType1> & v,
57 const Eigen::MatrixBase<TangentVectorType2> & tau,
58 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
59 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
60 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
89 template<
90 typename Scalar,
91 int Options,
92 template<typename, int> class JointCollectionTpl,
93 typename ConfigVectorType,
94 typename TangentVectorType1,
95 typename TangentVectorType2,
96 typename MatrixType1,
97 typename MatrixType2,
98 typename MatrixType3>
99 void computeABADerivatives(
100 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
101 DataTpl<Scalar, Options, JointCollectionTpl> & data,
102 const Eigen::MatrixBase<ConfigVectorType> & q,
103 const Eigen::MatrixBase<TangentVectorType1> & v,
104 const Eigen::MatrixBase<TangentVectorType2> & tau,
105 const container::aligned_vector<ForceTpl<Scalar, Options>> & fext,
106 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
107 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
108 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
109
132 template<
133 typename Scalar,
134 int Options,
135 template<typename, int> class JointCollectionTpl,
136 typename ConfigVectorType,
137 typename TangentVectorType1,
138 typename TangentVectorType2>
139 typename std::enable_if<
140 ConfigVectorType::IsVectorAtCompileTime || TangentVectorType1::IsVectorAtCompileTime
141 || TangentVectorType2::IsVectorAtCompileTime,
142 void>::type
143 computeABADerivatives(
144 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
145 DataTpl<Scalar, Options, JointCollectionTpl> & data,
146 const Eigen::MatrixBase<ConfigVectorType> & q,
147 const Eigen::MatrixBase<TangentVectorType1> & v,
148 const Eigen::MatrixBase<TangentVectorType2> & tau);
149
174 template<
175 typename Scalar,
176 int Options,
177 template<typename, int> class JointCollectionTpl,
178 typename ConfigVectorType,
179 typename TangentVectorType1,
180 typename TangentVectorType2>
181 void computeABADerivatives(
182 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
183 DataTpl<Scalar, Options, JointCollectionTpl> & data,
184 const Eigen::MatrixBase<ConfigVectorType> & q,
185 const Eigen::MatrixBase<TangentVectorType1> & v,
186 const Eigen::MatrixBase<TangentVectorType2> & tau,
187 const container::aligned_vector<ForceTpl<Scalar, Options>> & fext);
188
212 template<
213 typename Scalar,
214 int Options,
215 template<typename, int> class JointCollectionTpl,
216 typename MatrixType1,
217 typename MatrixType2,
218 typename MatrixType3>
219 typename std::enable_if<
220 !(MatrixType1::IsVectorAtCompileTime || MatrixType2::IsVectorAtCompileTime
221 || MatrixType3::IsVectorAtCompileTime),
222 void>::type
223 computeABADerivatives(
224 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
225 DataTpl<Scalar, Options, JointCollectionTpl> & data,
226 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
227 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
228 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
229
242 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
243 void computeABADerivatives(
244 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
245 DataTpl<Scalar, Options, JointCollectionTpl> & data);
246
271 template<
272 typename Scalar,
273 int Options,
274 template<typename, int> class JointCollectionTpl,
275 typename MatrixType1,
276 typename MatrixType2,
277 typename MatrixType3>
278 void computeABADerivatives(
279 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
280 DataTpl<Scalar, Options, JointCollectionTpl> & data,
281 const container::aligned_vector<ForceTpl<Scalar, Options>> & fext,
282 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
283 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
284 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
285
303 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
304 void computeABADerivatives(
305 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
306 DataTpl<Scalar, Options, JointCollectionTpl> & data,
307 const container::aligned_vector<ForceTpl<Scalar, Options>> & fext);
308
309} // namespace pinocchio
310
311/* --- Details -------------------------------------------------------------------- */
312#include "pinocchio/algorithm/aba-derivatives.hxx"
313
314#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
315 #include "pinocchio/algorithm/aba-derivatives.txx"
316#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
317
318#endif // ifndef __pinocchio_algorithm_aba_derivatives_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeABADerivatives
void computeABADerivatives(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 Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
The derivatives of the Articulated-Body algorithm.