pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
Loading...
Searching...
No Matches
centroidal.hpp
1//
2// Copyright (c) 2015-2019 CNRS INRIA
3//
4
5#ifndef __pinocchio_algorithm_centroidal_hpp__
6#define __pinocchio_algorithm_centroidal_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10#include "pinocchio/algorithm/kinematics.hpp"
11
12namespace pinocchio
13{
14
29 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
30 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force & computeCentroidalMomentum(
31 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
32 DataTpl<Scalar, Options, JointCollectionTpl> & data);
33
52 template<
53 typename Scalar,
54 int Options,
55 template<typename, int> class JointCollectionTpl,
56 typename ConfigVectorType,
57 typename TangentVectorType>
58 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force & computeCentroidalMomentum(
59 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
60 DataTpl<Scalar, Options, JointCollectionTpl> & data,
61 const Eigen::MatrixBase<ConfigVectorType> & q,
62 const Eigen::MatrixBase<TangentVectorType> & v);
63
81 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
82 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force &
83 computeCentroidalMomentumTimeVariation(
84 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
85 DataTpl<Scalar, Options, JointCollectionTpl> & data);
86
110 template<
111 typename Scalar,
112 int Options,
113 template<typename, int> class JointCollectionTpl,
114 typename ConfigVectorType,
115 typename TangentVectorType1,
116 typename TangentVectorType2>
117 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force &
118 computeCentroidalMomentumTimeVariation(
119 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
120 DataTpl<Scalar, Options, JointCollectionTpl> & data,
121 const Eigen::MatrixBase<ConfigVectorType> & q,
122 const Eigen::MatrixBase<TangentVectorType1> & v,
123 const Eigen::MatrixBase<TangentVectorType2> & a);
124
144 template<
145 typename Scalar,
146 int Options,
147 template<typename, int> class JointCollectionTpl,
148 typename ConfigVectorType,
149 typename TangentVectorType>
150 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & ccrba(
151 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
152 DataTpl<Scalar, Options, JointCollectionTpl> & data,
153 const Eigen::MatrixBase<ConfigVectorType> & q,
154 const Eigen::MatrixBase<TangentVectorType> & v);
155
171 template<
172 typename Scalar,
173 int Options,
174 template<typename, int> class JointCollectionTpl,
175 typename ConfigVectorType>
176 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeCentroidalMap(
177 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
178 DataTpl<Scalar, Options, JointCollectionTpl> & data,
179 const Eigen::MatrixBase<ConfigVectorType> & q);
180
203 template<
204 typename Scalar,
205 int Options,
206 template<typename, int> class JointCollectionTpl,
207 typename ConfigVectorType,
208 typename TangentVectorType>
209 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & dccrba(
210 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
211 DataTpl<Scalar, Options, JointCollectionTpl> & data,
212 const Eigen::MatrixBase<ConfigVectorType> & q,
213 const Eigen::MatrixBase<TangentVectorType> & v);
214
233 template<
234 typename Scalar,
235 int Options,
236 template<typename, int> class JointCollectionTpl,
237 typename ConfigVectorType,
238 typename TangentVectorType>
239 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
240 computeCentroidalMapTimeVariation(
241 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
242 DataTpl<Scalar, Options, JointCollectionTpl> & data,
243 const Eigen::MatrixBase<ConfigVectorType> & q,
244 const Eigen::MatrixBase<TangentVectorType> & v);
245
246} // namespace pinocchio
247
248/* --- Details -------------------------------------------------------------------- */
249#include "pinocchio/algorithm/centroidal.hxx"
250
251#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
252 #include "pinocchio/algorithm/centroidal.txx"
253#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
254
255#endif // ifndef __pinocchio_algorithm_centroidal_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeCentroidalMap
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMap(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the Centroidal Momentum Matrix.
pinocchio::computeCentroidalMomentum
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentum(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center ...
pinocchio::dccrba
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & dccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration...
pinocchio::computeCentroidalMapTimeVariation
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMapTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix time derivative.
pinocchio::computeCentroidalMomentumTimeVariation
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentumTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and...
pinocchio::ccrba
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & ccrba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal m...
pinocchio::DataTpl::Matrix6x
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
Definition data.hpp:92