pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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rnea-derivatives.hpp
1//
2// Copyright (c) 2017-2019 CNRS INRIA
3//
4
5#ifndef __pinocchio_algorithm_rnea_derivatives_hpp__
6#define __pinocchio_algorithm_rnea_derivatives_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10
11#include "pinocchio/container/aligned-vector.hpp"
12
13namespace pinocchio
14{
15
35 template<
36 typename Scalar,
37 int Options,
38 template<typename, int> class JointCollectionTpl,
39 typename ConfigVectorType,
40 typename ReturnMatrixType>
41 void computeGeneralizedGravityDerivatives(
42 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
43 DataTpl<Scalar, Options, JointCollectionTpl> & data,
44 const Eigen::MatrixBase<ConfigVectorType> & q,
45 const Eigen::MatrixBase<ReturnMatrixType> & gravity_partial_dq);
46
68 template<
69 typename Scalar,
70 int Options,
71 template<typename, int> class JointCollectionTpl,
72 typename ConfigVectorType,
73 typename ReturnMatrixType>
74 void computeStaticTorqueDerivatives(
75 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
76 DataTpl<Scalar, Options, JointCollectionTpl> & data,
77 const Eigen::MatrixBase<ConfigVectorType> & q,
78 const container::aligned_vector<ForceTpl<Scalar, Options>> & fext,
79 const Eigen::MatrixBase<ReturnMatrixType> & static_torque_partial_dq);
80
110 template<
111 typename Scalar,
112 int Options,
113 template<typename, int> class JointCollectionTpl,
114 typename ConfigVectorType,
115 typename TangentVectorType1,
116 typename TangentVectorType2,
117 typename MatrixType1,
118 typename MatrixType2,
119 typename MatrixType3>
120 void computeRNEADerivatives(
121 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
122 DataTpl<Scalar, Options, JointCollectionTpl> & data,
123 const Eigen::MatrixBase<ConfigVectorType> & q,
124 const Eigen::MatrixBase<TangentVectorType1> & v,
125 const Eigen::MatrixBase<TangentVectorType2> & a,
126 const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
127 const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
128 const Eigen::MatrixBase<MatrixType3> & rnea_partial_da);
129
161 template<
162 typename Scalar,
163 int Options,
164 template<typename, int> class JointCollectionTpl,
165 typename ConfigVectorType,
166 typename TangentVectorType1,
167 typename TangentVectorType2,
168 typename MatrixType1,
169 typename MatrixType2,
170 typename MatrixType3>
171 void computeRNEADerivatives(
172 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
173 DataTpl<Scalar, Options, JointCollectionTpl> & data,
174 const Eigen::MatrixBase<ConfigVectorType> & q,
175 const Eigen::MatrixBase<TangentVectorType1> & v,
176 const Eigen::MatrixBase<TangentVectorType2> & a,
177 const container::aligned_vector<ForceTpl<Scalar, Options>> & fext,
178 const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
179 const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
180 const Eigen::MatrixBase<MatrixType3> & rnea_partial_da);
181
205 template<
206 typename Scalar,
207 int Options,
208 template<typename, int> class JointCollectionTpl,
209 typename ConfigVectorType,
210 typename TangentVectorType1,
211 typename TangentVectorType2>
212 void computeRNEADerivatives(
213 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
214 DataTpl<Scalar, Options, JointCollectionTpl> & data,
215 const Eigen::MatrixBase<ConfigVectorType> & q,
216 const Eigen::MatrixBase<TangentVectorType1> & v,
217 const Eigen::MatrixBase<TangentVectorType2> & a);
218
244 template<
245 typename Scalar,
246 int Options,
247 template<typename, int> class JointCollectionTpl,
248 typename ConfigVectorType,
249 typename TangentVectorType1,
250 typename TangentVectorType2>
251 void computeRNEADerivatives(
252 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
253 DataTpl<Scalar, Options, JointCollectionTpl> & data,
254 const Eigen::MatrixBase<ConfigVectorType> & q,
255 const Eigen::MatrixBase<TangentVectorType1> & v,
256 const Eigen::MatrixBase<TangentVectorType2> & a,
257 const container::aligned_vector<ForceTpl<Scalar, Options>> & fext);
258
259} // namespace pinocchio
260
261#include "pinocchio/algorithm/rnea-derivatives.hxx"
262
263#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
264 #include "pinocchio/algorithm/rnea-derivatives.txx"
265#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
266
267#endif // ifndef __pinocchio_algorithm_rnea_derivatives_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeRNEADerivatives
void computeRNEADerivatives(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 > &a, const Eigen::MatrixBase< MatrixType1 > &rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &rnea_partial_da)
Computes the partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint c...
pinocchio::computeStaticTorqueDerivatives
void computeStaticTorqueDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext, const Eigen::MatrixBase< ReturnMatrixType > &static_torque_partial_dq)
Computes the partial derivative of the generalized gravity and external forces contributions (a....
pinocchio::computeGeneralizedGravityDerivatives
void computeGeneralizedGravityDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ReturnMatrixType > &gravity_partial_dq)
Computes the partial derivative of the generalized gravity contribution with respect to the joint con...