pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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aba.hpp
1//
2// Copyright (c) 2016-2021 CNRS INRIA
3//
4
5#ifndef __pinocchio_algorithm_aba_hpp__
6#define __pinocchio_algorithm_aba_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10#include "pinocchio/algorithm/check.hpp"
11
12namespace pinocchio
13{
34 template<
35 typename Scalar,
36 int Options,
37 template<typename, int> class JointCollectionTpl,
38 typename ConfigVectorType,
39 typename TangentVectorType1,
40 typename TangentVectorType2>
41 const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & aba(
42 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
43 DataTpl<Scalar, Options, JointCollectionTpl> & data,
44 const Eigen::MatrixBase<ConfigVectorType> & q,
45 const Eigen::MatrixBase<TangentVectorType1> & v,
46 const Eigen::MatrixBase<TangentVectorType2> & tau,
47 const Convention convention = Convention::LOCAL);
48
71 template<
72 typename Scalar,
73 int Options,
74 template<typename, int> class JointCollectionTpl,
75 typename ConfigVectorType,
76 typename TangentVectorType1,
77 typename TangentVectorType2,
78 typename ForceDerived>
79 const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & aba(
80 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
81 DataTpl<Scalar, Options, JointCollectionTpl> & data,
82 const Eigen::MatrixBase<ConfigVectorType> & q,
83 const Eigen::MatrixBase<TangentVectorType1> & v,
84 const Eigen::MatrixBase<TangentVectorType2> & tau,
85 const container::aligned_vector<ForceDerived> & fext,
86 const Convention rf = Convention::LOCAL);
87
101 template<
102 typename Scalar,
103 int Options,
104 template<typename, int> class JointCollectionTpl,
105 typename ConfigVectorType>
106 const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
107 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
108 DataTpl<Scalar, Options, JointCollectionTpl> & data,
109 const Eigen::MatrixBase<ConfigVectorType> & q);
110
124 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
125 const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
126 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
127 DataTpl<Scalar, Options, JointCollectionTpl> & data);
128
129 PINOCCHIO_DEFINE_ALGO_CHECKER(ABA);
130
131} // namespace pinocchio
132
133/* --- Details -------------------------------------------------------------------- */
134#include "pinocchio/algorithm/aba.hxx"
135
136#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
137 #include "pinocchio/algorithm/aba.txx"
138#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
139
140#endif // ifndef __pinocchio_algorithm_aba_hpp__
pinocchio::Convention
Convention
List of convention to call algorithms.
Definition fwd.hpp:74
pinocchio::Convention::LOCAL
@ LOCAL
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
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::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.
pinocchio::DataTpl::TangentVectorType
VectorXs TangentVectorType
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc)....
Definition data.hpp:89