pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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data.hpp
1//
2// Copyright (c) 2015-2024 CNRS INRIA
3// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4//
5
6#ifndef __pinocchio_multibody_data_hpp__
7#define __pinocchio_multibody_data_hpp__
8
9#include "pinocchio/spatial/fwd.hpp"
10#include "pinocchio/math/tensor.hpp"
11
12#include "pinocchio/spatial/se3.hpp"
13#include "pinocchio/spatial/force.hpp"
14#include "pinocchio/spatial/motion.hpp"
15#include "pinocchio/spatial/inertia.hpp"
16#include "pinocchio/multibody/fwd.hpp"
17#include "pinocchio/multibody/joint/joint-generic.hpp"
18#include "pinocchio/container/aligned-vector.hpp"
19#include "pinocchio/algorithm/contact-cholesky.hpp"
20
21#include "pinocchio/serialization/serializable.hpp"
22
23#include <Eigen/Cholesky>
24#include <Eigen/StdVector>
25#include <Eigen/src/Core/util/Constants.h>
26
27#include <cstddef>
28#include <set>
29
30namespace pinocchio
31{
32
33 template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
34 struct traits<DataTpl<_Scalar, _Options, JointCollectionTpl>>
35 {
36 typedef _Scalar Scalar;
37 };
38
39 template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
40 struct DataTpl
41 : serialization::Serializable<DataTpl<_Scalar, _Options, JointCollectionTpl>>
42 , NumericalBase<DataTpl<_Scalar, _Options, JointCollectionTpl>>
43 {
45
46 typedef _Scalar Scalar;
47 enum
48 {
49 Options = _Options
50 };
51
53
55
61
62 typedef pinocchio::Index Index;
63 typedef pinocchio::JointIndex JointIndex;
64 typedef pinocchio::GeomIndex GeomIndex;
65 typedef pinocchio::FrameIndex FrameIndex;
66 typedef std::vector<Index> IndexVector;
67
70
71 typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;
72 typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
73
74 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs;
75 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
76 typedef Eigen::Matrix<Scalar, 1, Eigen::Dynamic, Options | Eigen::RowMajor> RowVectorXs;
77 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
78 typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6;
79
80 typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6c;
81 typedef Eigen::Matrix<Scalar, 1, 6, Eigen::RowMajor | Options> Vector6r;
82
84 typedef VectorXs ConfigVectorType;
85
89 typedef VectorXs TangentVectorType;
90
92 typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6x;
94 typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x;
95
96 typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6;
97 typedef Eigen::Matrix<Scalar, 6, 6, Eigen::RowMajor | Options> RowMatrix6;
98 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Options>
99 RowMatrixXs;
100
102 typedef Eigen::Matrix<Scalar, 6, 10, Options> BodyRegressorType;
103
106
107 // TODO Remove when API is stabilized
108 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
109 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
111 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
112
116
119
122
126
130
133
137
140
143
148
153
159
162
165
168
171
174
179 VectorXs nle;
180
184 VectorXs g;
185
188
193
196 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) dYcrb; // TODO: change with dense symmetric matrix6
197
199 MatrixXs M;
200
202 RowMatrixXs Minv;
203
205 MatrixXs C;
206
209
212
215
218
221
224
227
230
233
237
240
243
246
248 Matrix6 Itmp;
249
251 Matrix6 M6tmp;
252 RowMatrix6 M6tmpR;
253 RowMatrix6 M6tmpR2;
254
257
258 // ABA internal data
261 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Yaba; // TODO: change with dense symmetric matrix6
262
265 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) oYaba; // TODO: change with dense symmetric matrix6
266
269 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6)
270 oYaba_contact; // TODO: change with dense symmetric matrix6
271
273 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) oL; // TODO: change with dense symmetric matrix6
274
276 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) oK; // TODO: change with dense symmetric matrix6
277
279 TangentVectorType u; // Joint Inertia
280
281 // CCRBA return quantities
285
286 // dCCRBA return quantities
291
298
306
311
313 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6x) Fcrb;
314
316 std::vector<int> lastChild;
317
319 std::vector<int> nvSubtree;
320
322 std::vector<int> start_idx_v_fromRow;
323
325 std::vector<int> end_idx_v_fromRow;
326
330
333 std::vector<JointIndex> mimic_subtree_joint;
334
337 MatrixXs U;
338
340 VectorXs D;
341
344 VectorXs Dinv;
345
347 VectorXs tmp;
348
350 std::vector<int> parents_fromRow;
351
353 std::vector<int> mimic_parents_fromRow;
354
357
361 std::vector<std::vector<int>> supports_fromRow;
362
364 std::vector<int> nvSubtree_fromRow;
365
375
378
381
385
389
392
395
398
401 RowMatrixXs dtau_dq;
402
404 RowMatrixXs dtau_dv;
405
408 RowMatrixXs ddq_dq;
409
412 RowMatrixXs ddq_dv;
413
416 RowMatrixXs ddq_dtau;
417
420 MatrixXs dvc_dq;
421 MatrixXs dac_dq;
422 MatrixXs dac_dv;
423 MatrixXs dac_da;
424
426 MatrixXs osim;
427
430 MatrixXs dlambda_dq;
431 MatrixXs dlambda_dv;
432 MatrixXs dlambda_dtau;
433 MatrixXs dlambda_dx_prox, drhs_prox;
434
436 PINOCCHIO_ALIGNED_STD_VECTOR(SE3) iMf;
437
442 PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) com;
443
448 PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) vcom;
449
454 PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) acom;
455
458 std::vector<Scalar> mass;
459
465
468
471
474
475 // Temporary variables used in forward dynamics
476
478 MatrixXs JMinvJt;
479
481 Eigen::LLT<MatrixXs> llt_JMinvJt;
482
485 VectorXs lambda_c;
486
490
493
495 MatrixXs sDUiJt;
496
499
502
505 VectorXs impulse_c;
506
509
512
515
518
521
522 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6x) KA;
523 PINOCCHIO_ALIGNED_STD_VECTOR(MatrixXs) LA;
524 PINOCCHIO_ALIGNED_STD_VECTOR(VectorXs) lA;
525 PINOCCHIO_ALIGNED_STD_VECTOR(VectorXs) lambdaA;
526 PINOCCHIO_ALIGNED_STD_VECTOR(int) par_cons_ind;
527 PINOCCHIO_ALIGNED_STD_VECTOR(Motion) a_bias;
528 PINOCCHIO_ALIGNED_STD_VECTOR(MatrixXs) KAS;
529 PINOCCHIO_ALIGNED_STD_VECTOR(int) constraint_ind;
530 Eigen::LLT<MatrixXs> osim_llt;
531
532#if defined(_MSC_VER)
533 // Eigen tensor warning: Eigen\CXX11\src/Tensor/Tensor.h(76,1): warning C4554: '&': check
534 // operator precedence for possible error
535 #pragma warning(disable : 4554)
536#endif
537
540
541#if defined(_MSC_VER)
542 #pragma warning(default : 4554) // C4554 enabled after tensor definition
543#endif
544
547
550
553
554#if defined(_MSC_VER)
555 // Eigen tensor warning: Eigen\CXX11\src/Tensor/Tensor.h(76,1): warning C4554: '&': check
556 // operator precedence for possible error
557 #pragma warning(disable : 4554)
558#endif
559
563
567
571
577
578#if defined(_MSC_VER)
579 #pragma warning(default : 4554) // C4554 enabled after tensor definition
580#endif
581
582 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6)
583 extended_motion_propagator; // Stores force propagator to the base link
584 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) extended_motion_propagator2;
585 PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) spatial_inv_inertia; // Stores spatial inverse inertia
586 PINOCCHIO_ALIGNED_STD_VECTOR(size_t) accumulation_descendant;
587 PINOCCHIO_ALIGNED_STD_VECTOR(size_t) accumulation_ancestor;
588 PINOCCHIO_ALIGNED_STD_VECTOR(int) constraints_supported_dim;
589 PINOCCHIO_ALIGNED_STD_VECTOR(std::set<size_t>) constraints_supported;
590 PINOCCHIO_ALIGNED_STD_VECTOR(size_t) joints_supporting_constraints;
591 PINOCCHIO_ALIGNED_STD_VECTOR(size_t) accumulation_joints;
592 PINOCCHIO_ALIGNED_STD_VECTOR(std::vector<size_t>) constraints_on_joint;
593
599 explicit DataTpl(const Model & model);
600
605 {
606 }
607
608 private:
609 void computeLastChild(const Model & model);
610 void computeParents_fromRow(const Model & model);
611 void computeSupports_fromRow(const Model & model);
612 };
613
614} // namespace pinocchio
615
616/* --- Details -------------------------------------------------------------- */
617/* --- Details -------------------------------------------------------------- */
618/* --- Details -------------------------------------------------------------- */
619#include "pinocchio/multibody/data.hxx"
620
621#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
622 #include "pinocchio/multibody/data.txx"
623#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
624
625#endif // ifndef __pinocchio_multibody_data_hpp__
Main pinocchio namespace.
Definition treeview.dox:11
MatrixXs M
The joint space inertia matrix (a square matrix of dim model.nv).
Definition data.hpp:199
PINOCCHIO_ALIGNED_STD_VECTOR(Force) of_augmented
Vector of body forces expressed in the world frame. For each body, the force represents the sum of al...
Tensor3x d2tau_dvdv
SO Partial derivative of the joint torque vector with respect to the joint velocity.
Definition data.hpp:566
RowVectorXs kineticEnergyRegressor
Matrix related to kinetic energy regressor.
Definition data.hpp:517
MatrixXs JMinvJt
Inverse of the operational-space inertia matrix.
Definition data.hpp:478
Scalar potential_energy
Potential energy of the system.
Definition data.hpp:470
Matrix6x dFda
Variation of the forceset with respect to the joint acceleration.
Definition data.hpp:217
Inertia Ig
Centroidal Composite Rigid Body Inertia.
Definition data.hpp:310
Matrix6x dFdv
Variation of the forceset with respect to the joint velocity.
Definition data.hpp:214
Matrix6x IS
Used in computeMinverse.
Definition data.hpp:226
MatrixXs osim
Operational space inertia matrix;.
Definition data.hpp:426
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa_gf
Vector of joint accelerations expressed at the origin of the world including the gravity contribution...
PINOCCHIO_ALIGNED_STD_VECTOR(Force) h
Vector of spatial momenta expressed in the local frame of the joint.
std::vector< int > nvSubtree
Dimension of the subtree motion space (for CRBA)
Definition data.hpp:319
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) a_gf
Vector of joint accelerations due to the gravity field.
VectorXs primal_rhs_contact
Primal RHS in contact dynamic equations.
Definition data.hpp:552
VectorXs diff_lambda_c
Difference between two consecutive iterations of the proxy algorithm.
Definition data.hpp:492
MatrixXs jointTorqueRegressor
Matrix related to joint torque regressor.
Definition data.hpp:514
Scalar mechanical_energy
Mechanical energy of the system.
Definition data.hpp:473
std::vector< int > lastChild
Index of the last child (for CRBA)
Definition data.hpp:316
Matrix6x Ag
Centroidal Momentum Matrix.
Definition data.hpp:284
PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) Ycrb
Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported ...
TangentVectorType u
Intermediate quantity corresponding to apparent torque [ABA].
Definition data.hpp:279
DataTpl()
Default constructor.
Definition data.hpp:604
oYaba_contact
Articulated Body Inertia matrix with contact apparent inertia, of a given the subtree and expressed i...
Definition data.hpp:270
VectorXs torque_residual
Temporary corresponding to the residual torque .
Definition data.hpp:498
Tensor3x d2tau_dqdq
SO Partial derivative of the joint torque vector with respect to the joint configuration.
Definition data.hpp:562
Tensor< Scalar, 3, Options > Tensor3x
&#160;
Definition data.hpp:105
Tensor3x d2tau_dqdv
SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/veloci...
Definition data.hpp:570
Matrix6x dHdq
Variation of the spatial momenta set with respect to the joint configuration.
Definition data.hpp:208
VectorXs lambda_c
Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.
Definition data.hpp:485
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) B
Combined variations of the inertia matrix consistent with Christoffel symbols.
MatrixXs dlambda_dq
Partial derivatives of the constraints forces with respect to the joint configuration,...
Definition data.hpp:430
Tensor3x d2tau_dadq
SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configu...
Definition data.hpp:576
RowMatrixXs dtau_dv
Partial derivative of the joint torque vector with respect to the joint velocity.
Definition data.hpp:404
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) dYcrb
Vector of sub-tree composite rigid body inertia time derivatives . See Data::Ycrb for more details.
VectorXs Dinv
Diagonal inverse of the joint space inertia matrix obtained by a Cholesky Decomposition.
Definition data.hpp:344
VectorXs D
Diagonal of the joint space inertia matrix obtained by a Cholesky Decomposition.
Definition data.hpp:340
VectorXs impulse_c
Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.
Definition data.hpp:505
Matrix6x dAdv
Variation of the spatial acceleration set with respect to the joint velocity.
Definition data.hpp:397
std::vector< int > end_idx_v_fromRow
End index of the Joint motion subspace.
Definition data.hpp:325
PINOCCHIO_ALIGNED_STD_VECTOR(Force) oh
Vector of spatial momenta expressed at the origin of the world.
Matrix6x dVdq
Variation of the spatial velocity set with respect to the joint configuration.
Definition data.hpp:391
Matrix6 Itmp
Temporary for derivative algorithms.
Definition data.hpp:248
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) v
Vector of joint velocities expressed in the local frame of the joint.
VectorXs g
Vector of generalized gravity (dim model.nv).
Definition data.hpp:184
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) oYaba
Articulated Body Inertia matrix of the subtree expressed in the WORLD coordinate frame.
MatrixXs sDUiJt
Temporary corresponding to .
Definition data.hpp:495
DataTpl(const Model &model)
Default constructor of pinocchio::Data from a pinocchio::Model.
std::vector< int > non_mimic_parents_fromRow
First previous non-zero row belonging to a non mimic joint in M (used in Jacobian).
Definition data.hpp:356
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa
Vector of joint accelerations expressed at the origin of the world.
VectorXs TangentVectorType
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc)....
Definition data.hpp:89
VectorXs lambda_c_prox
Proximal Lagrange Multipliers used in the computation of the Forward Dynamics computations.
Definition data.hpp:489
std::vector< int > parents_fromRow
First previous non-zero row in M (used in Cholesky Decomposition).
Definition data.hpp:350
TangentVectorType tau
Vector of joint torques (dim model.nv).
Definition data.hpp:173
PINOCCHIO_ALIGNED_STD_VECTOR(SE3) liMi
Vector of relative joint placements (wrt the body parent).
Eigen::LLT< MatrixXs > llt_JMinvJt
Cholesky decompostion of .
Definition data.hpp:481
Eigen::Matrix< Scalar, 6, 10, Options > BodyRegressorType
The type of the body regressor.
Definition data.hpp:102
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
Definition data.hpp:92
PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oinertias
Rigid Body Inertia supported by the joint expressed in the world frame.
Matrix6x dFdq
Variation of the forceset with respect to the joint configuration.
Definition data.hpp:211
Matrix3x Jcom
Jacobian of center of mass.
Definition data.hpp:464
std::vector< int > mimic_parents_fromRow
First previous non-zero row belonging to a mimic joint in M (used in Jacobian).
Definition data.hpp:353
RowMatrixXs ddq_dtau
Partial derivative of the joint acceleration vector with respect to the joint torques.
Definition data.hpp:416
RowVectorXs potentialEnergyRegressor
Matrix related to potential energy regressor.
Definition data.hpp:520
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa_drift
Vector of joint accelerations expressed at the origin of the world. These accelerations are used in t...
RowMatrixXs ddq_dv
Partial derivative of the joint acceleration vector with respect to the joint velocity.
Definition data.hpp:412
std::vector< int > nvSubtree_fromRow
Subtree of the current row index (used in Cholesky Decomposition).
Definition data.hpp:364
TangentVectorType ddq
The joint accelerations computed from ABA.
Definition data.hpp:256
std::vector< std::vector< int > > supports_fromRow
Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tr...
Definition data.hpp:361
PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMi
Vector of absolute joint placements (wrt the world).
TangentVectorType dq_after
Generalized velocity after impact.
Definition data.hpp:501
RowMatrixXs dtau_dq
Partial derivative of the joint torque vector with respect to the joint configuration.
Definition data.hpp:401
MatrixXs dvc_dq
Stack of partial derivative of the contact frame acceleration with respect to the joint parameters.
Definition data.hpp:420
std::vector< int > idx_vExtended_to_idx_v_fromRow
Extended model mapping of the joint rows (idx_vExtended_to_idx_v_fromRow[idx_vExtended] = idx_v)
Definition data.hpp:329
MatrixXs U
Joint space inertia matrix square root (upper triangular part) computed with a Cholesky Decomposition...
Definition data.hpp:337
Force hg
Centroidal momentum quantity.
Definition data.hpp:297
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) doYcrb
Time variation of Composite Rigid Body Inertia expressed in the world frame.
Scalar kinetic_energy
Kinetic energy of the system.
Definition data.hpp:467
Matrix6x psidd
psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj
Definition data.hpp:388
Matrix6x SDinv
Used in computeMinverse.
Definition data.hpp:220
Tensor3x kinematic_hessians
Tensor containing the kinematic Hessian of all the joints.
Definition data.hpp:539
PINOCCHIO_ALIGNED_STD_VECTOR(Force) f
Vector of body forces expressed in the local frame of the joint. For each body, the force represents ...
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Ivx
Left variation of the inertia matrix.
Matrix6 M6tmp
Temporary for derivative algorithms.
Definition data.hpp:251
ContactCholeskyDecomposition contact_chol
Cholesky decomposition of the KKT contact matrix.
Definition data.hpp:546
PINOCCHIO_COMPILER_DIAGNOSTIC_POP JointDataVector joints
Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model,...
Definition data.hpp:115
std::vector< Scalar > mass
Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint ....
Definition data.hpp:458
Matrix6x dAg
Centroidal Momentum Matrix Time Variation.
Definition data.hpp:290
VectorXs primal_dual_contact_solution
RHS vector when solving the contact dynamics KKT problem.
Definition data.hpp:549
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) ov
Vector of joint velocities expressed at the origin of the world.
Force dhg
Centroidal momentum time derivative.
Definition data.hpp:305
std::vector< JointIndex > mimic_subtree_joint
Store the index of the first non mimic child of each mimic joint (for CRBA). Store 0 if there is no n...
Definition data.hpp:333
Matrix6x J
Jacobian of joint placements.
Definition data.hpp:374
Matrix6x psid
psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj
Definition data.hpp:384
RowMatrixXs Minv
The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
Definition data.hpp:202
VectorXs nle
Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis,...
Definition data.hpp:179
Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x
The 3d jacobian type (temporary)
Definition data.hpp:94
PINOCCHIO_ALIGNED_STD_VECTOR(Force) of
Vector of body forces expressed at the origin of the world. For each body, the force represents the s...
Matrix6x dJ
Derivative of the Jacobian with respect to the time.
Definition data.hpp:377
MatrixXs C
The Coriolis matrix (a square matrix of dim model.nv).
Definition data.hpp:205
VectorXs ConfigVectorType
Dense vectorized version of a joint configuration vector.
Definition data.hpp:84
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa_augmented
Vector of joint accelerations expressed at the origin of the world. These accelerations are used in t...
std::vector< int > start_idx_v_fromRow
Starting index of the Joint motion subspace.
Definition data.hpp:322
VectorXs tmp
Temporary of size NV used in Cholesky Decomposition.
Definition data.hpp:347
PINOCCHIO_ALIGNED_STD_VECTOR(Motion) a
Vector of joint accelerations expressed in the local frame of the joint.
PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMf
Vector of absolute operationnel frame placements (wrt the world).
Matrix6x UDinv
Used in computeMinverse.
Definition data.hpp:223
RowMatrixXs ddq_dq
Partial derivative of the joint acceleration vector with respect to the joint configuration.
Definition data.hpp:408
Matrix3x staticRegressor
Matrix related to static regressor.
Definition data.hpp:508
BodyRegressorType bodyRegressor
Body regressor.
Definition data.hpp:511
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) vxI
Right variation of the inertia matrix.
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Yaba
Articulated Body Inertia matrix of the subtree expressed in the LOCAL coordinate frame of the joint.
Matrix6x ddJ
Second derivative of the Jacobian with respect to the time.
Definition data.hpp:380
Matrix6x dAdq
Variation of the spatial acceleration set with respect to the joint configuration.
Definition data.hpp:394
PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oYcrb
Composite Rigid Body Inertia expressed in the world frame.
Common traits structure to fully define base classes for CRTP.
Definition fwd.hpp:72