pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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act-on-set.hpp
1//
2// Copyright (c) 2015-2018 CNRS
3//
4
5#ifndef __pinocchio_act_on_set_hpp__
6#define __pinocchio_act_on_set_hpp__
7
8#include "pinocchio/macros.hpp"
9#include "pinocchio/spatial/fwd.hpp"
10
11namespace pinocchio
12{
13
14 namespace forceSet
15 {
20 template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
21 static void se3Action(
22 const SE3Tpl<Scalar, Options> & m,
23 const Eigen::MatrixBase<Mat> & iF,
24 Eigen::MatrixBase<MatRet> const & jF);
25
27 template<typename Scalar, int Options, typename Mat, typename MatRet>
28 static void se3Action(
29 const SE3Tpl<Scalar, Options> & m,
30 const Eigen::MatrixBase<Mat> & iF,
31 Eigen::MatrixBase<MatRet> const & jF);
32
37 template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
38 static void se3ActionInverse(
39 const SE3Tpl<Scalar, Options> & m,
40 const Eigen::MatrixBase<Mat> & iF,
41 Eigen::MatrixBase<MatRet> const & jF);
42
44 template<typename Scalar, int Options, typename Mat, typename MatRet>
45 static void se3ActionInverse(
46 const SE3Tpl<Scalar, Options> & m,
47 const Eigen::MatrixBase<Mat> & iF,
48 Eigen::MatrixBase<MatRet> const & jF);
49
54 template<int Op, typename MotionDerived, typename Mat, typename MatRet>
55 static void motionAction(
56 const MotionDense<MotionDerived> & v,
57 const Eigen::MatrixBase<Mat> & iF,
58 Eigen::MatrixBase<MatRet> const & jF);
59
61 template<typename MotionDerived, typename Mat, typename MatRet>
62 static void motionAction(
63 const MotionDense<MotionDerived> & v,
64 const Eigen::MatrixBase<Mat> & iF,
65 Eigen::MatrixBase<MatRet> const & jF);
66
67 } // namespace forceSet
68
69 namespace motionSet
70 {
75 template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
76 static void se3Action(
77 const SE3Tpl<Scalar, Options> & m,
78 const Eigen::MatrixBase<Mat> & iV,
79 Eigen::MatrixBase<MatRet> const & jV);
80
82 template<typename Scalar, int Options, typename Mat, typename MatRet>
83 static void se3Action(
84 const SE3Tpl<Scalar, Options> & m,
85 const Eigen::MatrixBase<Mat> & iV,
86 Eigen::MatrixBase<MatRet> const & jV);
87
92 template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
93 static void se3ActionInverse(
94 const SE3Tpl<Scalar, Options> & m,
95 const Eigen::MatrixBase<Mat> & iV,
96 Eigen::MatrixBase<MatRet> const & jV);
97
99 template<typename Scalar, int Options, typename Mat, typename MatRet>
100 static void se3ActionInverse(
101 const SE3Tpl<Scalar, Options> & m,
102 const Eigen::MatrixBase<Mat> & iV,
103 Eigen::MatrixBase<MatRet> const & jV);
104
109 template<int Op, typename MotionDerived, typename Mat, typename MatRet>
110 static void motionAction(
111 const MotionDense<MotionDerived> & v,
112 const Eigen::MatrixBase<Mat> & iF,
113 Eigen::MatrixBase<MatRet> const & jF);
114
116 template<typename MotionDerived, typename Mat, typename MatRet>
117 static void motionAction(
118 const MotionDense<MotionDerived> & v,
119 const Eigen::MatrixBase<Mat> & iF,
120 Eigen::MatrixBase<MatRet> const & jF);
121
126 template<int Op, typename Scalar, int Options, typename Mat, typename MatRet>
127 static void inertiaAction(
128 const InertiaTpl<Scalar, Options> & I,
129 const Eigen::MatrixBase<Mat> & iF,
130 Eigen::MatrixBase<MatRet> const & jF);
131
133 template<typename Scalar, int Options, typename Mat, typename MatRet>
134 static void inertiaAction(
135 const InertiaTpl<Scalar, Options> & I,
136 const Eigen::MatrixBase<Mat> & iF,
137 Eigen::MatrixBase<MatRet> const & jF);
138
146 template<int Op, typename ForceDerived, typename Mat, typename MatRet>
147 static void act(
148 const Eigen::MatrixBase<Mat> & iV,
149 const ForceDense<ForceDerived> & f,
150 Eigen::MatrixBase<MatRet> const & jF);
151
153 template<typename ForceDerived, typename Mat, typename MatRet>
154 static void act(
155 const Eigen::MatrixBase<Mat> & iV,
156 const ForceDense<ForceDerived> & f,
157 Eigen::MatrixBase<MatRet> const & jF);
158
159 } // namespace motionSet
160
161} // namespace pinocchio
162
163#include "pinocchio/spatial/act-on-set.hxx"
164
165#endif // ifndef __pinocchio_act_on_set_hpp__
pinocchio::forceSet::se3Action
static void se3Action(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial forc...
pinocchio::forceSet::motionAction
static void motionAction(const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Action of a motion on a set of forces, represented by a 6xN matrix whose each column represent a spat...
pinocchio::forceSet::se3ActionInverse
static void se3ActionInverse(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Inverse SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spat...
pinocchio::motionSet::act
static void act(const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF)
Action of a motion set on a force object. The input motion set is represented by a 6xN matrix whose e...
pinocchio::motionSet::se3Action
static void se3Action(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion.
pinocchio::motionSet::se3ActionInverse
static void se3ActionInverse(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
Inverse SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial ...
pinocchio::motionSet::motionAction
static void motionAction(const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Action of a motion on a set of motions, represented by a 6xN matrix whose columns represent a spatial...
pinocchio::motionSet::inertiaAction
static void inertiaAction(const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Action of an Inertia matrix on a set of motions, represented by a 6xN matrix whose columns represent ...
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11