pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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DataTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference
Inheritance diagram for DataTpl< _Scalar, _Options, JointCollectionTpl >:
Collaboration diagram for DataTpl< _Scalar, _Options, JointCollectionTpl >:

Public Types

enum  { Options = _Options }
 
typedef Eigen::Matrix< Scalar, 6, 10, Options > BodyRegressorType
 The type of the body regressor.
 
typedef VectorXs ConfigVectorType
 Dense vectorized version of a joint configuration vector.
 
typedef ForceTpl< Scalar, Options > Force
 
typedef FrameTpl< Scalar, Options > Frame
 
typedef pinocchio::FrameIndex FrameIndex
 
typedef pinocchio::GeomIndex GeomIndex
 
typedef pinocchio::Index Index
 
typedef std::vector< Index > IndexVector
 
typedef InertiaTpl< Scalar, Options > Inertia
 
typedef JointCollectionTpl< Scalar, Options > JointCollection
 
typedef JointDataTpl< Scalar, Options, JointCollectionTpl > JointData
 
typedef pinocchio::JointIndex JointIndex
 
typedef JointModelTpl< Scalar, Options, JointCollectionTpl > JointModel
 
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x
 The 3d jacobian type (temporary)
 
typedef Eigen::Matrix< Scalar, 6, 6, Options > Matrix6
 
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
 The 6d jacobian type (temporary)
 
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
 
typedef ModelTpl< Scalar, Options, JointCollectionTpl > Model
 
typedef MotionTpl< Scalar, Options > Motion
 
typedef Eigen::Matrix< Scalar, 6, 6, Eigen::RowMajor|Options > RowMatrix6
 
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options > RowMatrixXs
 
typedef Eigen::Matrix< Scalar, 1, Eigen::Dynamic, Options|Eigen::RowMajor > RowVectorXs
 
typedef _Scalar Scalar
 
typedef SE3Tpl< Scalar, Options > SE3
 
typedef VectorXs TangentVectorType
 Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).
 
typedef Tensor< Scalar, 3, Options > Tensor3x
  
 
typedef Eigen::Matrix< Scalar, 3, 1, Options > Vector3
 
typedef Eigen::Matrix< Scalar, 6, 1, Options > Vector6
 
typedef Eigen::Matrix< Scalar, 6, 1, Options > Vector6c
 
typedef Eigen::Matrix< Scalar, 1, 6, Eigen::RowMajor|Options > Vector6r
 
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
 
- Public Types inherited from NumericalBase< DataTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< DataTpl< _Scalar, _Options, JointCollectionTpl > >::Scalar Scalar
 

Public Member Functions

 DataTpl ()
 Default constructor.
 
 DataTpl (const Model &model)
 Default constructor of pinocchio::Data from a pinocchio::Model.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Force) f
 Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Force) h
 Vector of spatial momenta expressed in the local frame of the joint.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Force) of
 Vector of body forces expressed at the origin of the world. For each body, the force represents the sum of all external forces acting on the body.
 
 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 all external forces acting on the body. These forces are used in the context of augmented Lagrangian algorithms.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Force) oh
 Vector of spatial momenta expressed at the origin of the world.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oinertias
 Rigid Body Inertia supported by the joint expressed in the world frame.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oYcrb
 Composite Rigid Body Inertia expressed in the world frame.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) Ycrb
 Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..
 
 PINOCCHIO_ALIGNED_STD_VECTOR (int) const raint_ind
 
 PINOCCHIO_ALIGNED_STD_VECTOR (int) const raints_supported_dim
 
 PINOCCHIO_ALIGNED_STD_VECTOR (int) par_cons_ind
 
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector
 
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) B
 Combined variations of the inertia matrix \( B_i = \frac{1}{2} [(v_i\times∗)I_i + (I_i v_i)\times^{∗} − I_i(v_i\times)] \) consistent with Christoffel symbols.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) doYcrb
 Time variation of Composite Rigid Body Inertia expressed in the world frame.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) dYcrb
 Vector of sub-tree composite rigid body inertia time derivatives \( \dot{Y}_{crb}\). See Data::Ycrb for more details.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) extended_motion_propagator2
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Ivx
 Left variation of the inertia matrix.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oK
 Inverse articulated inertia.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oL
 Acceleration propagator.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oYaba
 Articulated Body Inertia matrix of the subtree expressed in the WORLD coordinate frame.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) spatial_inv_inertia
 
 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.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x) Fcrb
 Spatial forces set, used in CRBA and CCRBA.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x) KA
 
 PINOCCHIO_ALIGNED_STD_VECTOR (MatrixXs) KAS
 
 PINOCCHIO_ALIGNED_STD_VECTOR (MatrixXs) LA
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a
 Vector of joint accelerations expressed in the local frame of the joint.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_bias
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_gf
 Vector of joint accelerations due to the gravity field.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa
 Vector of joint accelerations expressed at the origin of the world.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_augmented
 Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_drift
 Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms.
 
 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 (Motion) ov
 Vector of joint velocities expressed at the origin of the world.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Motion) v
 Vector of joint velocities expressed in the local frame of the joint.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (SE3) iMf
 Vector of joint placements wrt to algorithm end effector.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (SE3) liMi
 Vector of relative joint placements (wrt the body parent).
 
 PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMf
 Vector of absolute operationnel frame placements (wrt the world).
 
 PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMi
 Vector of absolute joint placements (wrt the world).
 
 PINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_ancestor
 
 PINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_descendant
 
 PINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_joints
 
 PINOCCHIO_ALIGNED_STD_VECTOR (size_t) joints_supporting_constraints
 
 PINOCCHIO_ALIGNED_STD_VECTOR (std::set< size_t >) const raints_supported
 
 PINOCCHIO_ALIGNED_STD_VECTOR (std::vector< size_t >) const raints_on_joint
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) acom
 Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) com
 Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) vcom
 Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (VectorXs) lA
 
 PINOCCHIO_ALIGNED_STD_VECTOR (VectorXs) lambdaA
 
- Public Member Functions inherited from Serializable< DataTpl< _Scalar, _Options, JointCollectionTpl > >
void loadFromBinary (boost::asio::streambuf &container)
 Loads a Derived object from a binary container.
 
void loadFromBinary (const std::string &filename)
 Loads a Derived object from an binary file.
 
void loadFromBinary (StaticBuffer &container)
 Loads a Derived object from a static binary container.
 
void loadFromString (const std::string &str)
 Loads a Derived object from a string.
 
void loadFromStringStream (std::istringstream &is)
 Loads a Derived object from a stream string.
 
void loadFromText (const std::string &filename)
 Loads a Derived object from a text file.
 
void loadFromXML (const std::string &filename, const std::string &tag_name)
 Loads a Derived object from an XML file.
 
void saveToBinary (boost::asio::streambuf &container) const
 Saves a Derived object as a binary container.
 
void saveToBinary (const std::string &filename) const
 Saves a Derived object as an binary file.
 
void saveToBinary (StaticBuffer &container) const
 Saves a Derived object as a static binary container.
 
std::string saveToString () const
 Saves a Derived object to a string.
 
void saveToStringStream (std::stringstream &ss) const
 Saves a Derived object to a string stream.
 
void saveToText (const std::string &filename) const
 Saves a Derived object as a text file.
 
void saveToXML (const std::string &filename, const std::string &tag_name) const
 Saves a Derived object as an XML file.
 

Public Attributes

Matrix6x Ag
 Centroidal Momentum Matrix.
 
BodyRegressorType bodyRegressor
 Body regressor.
 
MatrixXs C
 The Coriolis matrix (a square matrix of dim model.nv).
 
ContactCholeskyDecomposition contact_chol
 Cholesky decomposition of the KKT contact matrix.
 
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef ContactCholeskyDecompositionTpl< Scalar, Options > ContactCholeskyDecomposition
 
VectorXs D
 Diagonal of the joint space inertia matrix obtained by a Cholesky Decomposition.
 
Tensor3x d2tau_dadq
 SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration.
 
Tensor3x d2tau_dqdq
 SO Partial derivative of the joint torque vector with respect to the joint configuration.
 
Tensor3x d2tau_dqdv
 SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity.
 
Tensor3x d2tau_dvdv
 SO Partial derivative of the joint torque vector with respect to the joint velocity.
 
MatrixXs dac_da
 
MatrixXs dac_dq
 
MatrixXs dac_dv
 
Matrix6x dAdq
 Variation of the spatial acceleration set with respect to the joint configuration.
 
Matrix6x dAdv
 Variation of the spatial acceleration set with respect to the joint velocity.
 
Matrix6x dAg
 Centroidal Momentum Matrix Time Variation.
 
Matrix6x ddJ
 Second derivative of the Jacobian with respect to the time.
 
TangentVectorType ddq
 The joint accelerations computed from ABA.
 
RowMatrixXs ddq_dq
 Partial derivative of the joint acceleration vector with respect to the joint configuration.
 
RowMatrixXs ddq_dtau
 Partial derivative of the joint acceleration vector with respect to the joint torques.
 
RowMatrixXs ddq_dv
 Partial derivative of the joint acceleration vector with respect to the joint velocity.
 
Matrix6x dFda
 Variation of the forceset with respect to the joint acceleration.
 
Matrix6x dFdq
 Variation of the forceset with respect to the joint configuration.
 
Matrix6x dFdv
 Variation of the forceset with respect to the joint velocity.
 
Matrix6x dHdq
 Variation of the spatial momenta set with respect to the joint configuration.
 
Force dhg
 Centroidal momentum time derivative.
 
VectorXs diff_lambda_c
 Difference between two consecutive iterations of the proxy algorithm.
 
VectorXs Dinv
 Diagonal inverse of the joint space inertia matrix obtained by a Cholesky Decomposition.
 
Matrix6x dJ
 Derivative of the Jacobian with respect to the time.
 
MatrixXs dlambda_dq
 Partial derivatives of the constraints forces with respect to the joint configuration, velocity and torque;.
 
MatrixXs dlambda_dtau
 
MatrixXs dlambda_dv
 
MatrixXs dlambda_dx_prox
 
TangentVectorType dq_after
 Generalized velocity after impact.
 
MatrixXs drhs_prox
 
RowMatrixXs dtau_dq
 Partial derivative of the joint torque vector with respect to the joint configuration.
 
RowMatrixXs dtau_dv
 Partial derivative of the joint torque vector with respect to the joint velocity.
 
MatrixXs dvc_dq
 Stack of partial derivative of the contact frame acceleration with respect to the joint parameters.
 
Matrix6x dVdq
 Variation of the spatial velocity set with respect to the joint configuration.
 
std::vector< intend_idx_v_fromRow
 End index of the Joint motion subspace.
 
 extended_motion_propagator
 
VectorXs g
 Vector of generalized gravity (dim model.nv).
 
Force hg
 Centroidal momentum quantity.
 
std::vector< intidx_vExtended_to_idx_v_fromRow
 Extended model mapping of the joint rows (idx_vExtended_to_idx_v_fromRow[idx_vExtended] = idx_v)
 
Inertia Ig
 Centroidal Composite Rigid Body Inertia.
 
VectorXs impulse_c
 Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.
 
Matrix6x IS
 Used in computeMinverse.
 
Matrix6 Itmp
 Temporary for derivative algorithms.
 
Matrix6x J
 Jacobian of joint placements.
 
Matrix3x Jcom
 Jacobian of center of mass.
 
MatrixXs JMinvJt
 Inverse of the operational-space inertia matrix.
 
PINOCCHIO_COMPILER_DIAGNOSTIC_POP JointDataVector joints
 Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.
 
MatrixXs jointTorqueRegressor
 Matrix related to joint torque regressor.
 
Tensor3x kinematic_hessians
 Tensor containing the kinematic Hessian of all the joints.
 
Scalar kinetic_energy
 Kinetic energy of the system.
 
RowVectorXs kineticEnergyRegressor
 Matrix related to kinetic energy regressor.
 
VectorXs lambda_c
 Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.
 
VectorXs lambda_c_prox
 Proximal Lagrange Multipliers used in the computation of the Forward Dynamics computations.
 
std::vector< intlastChild
 Index of the last child (for CRBA)
 
Eigen::LLT< MatrixXs > llt_JMinvJt
 Cholesky decompostion of \(JMinvJt\).
 
MatrixXs M
 The joint space inertia matrix (a square matrix of dim model.nv).
 
Matrix6 M6tmp
 Temporary for derivative algorithms.
 
RowMatrix6 M6tmpR
 
RowMatrix6 M6tmpR2
 
std::vector< Scalar > mass
 Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \( j \). The element mass[0] corresponds to the total mass of the model.
 
Scalar mechanical_energy
 Mechanical energy of the system.
 
std::vector< intmimic_parents_fromRow
 First previous non-zero row belonging to a mimic joint in M (used in Jacobian).
 
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 non mimic child.
 
RowMatrixXs Minv
 The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
 
VectorXs nle
 Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.
 
std::vector< intnon_mimic_parents_fromRow
 First previous non-zero row belonging to a non mimic joint in M (used in Jacobian).
 
std::vector< intnvSubtree
 Dimension of the subtree motion space (for CRBA)
 
std::vector< intnvSubtree_fromRow
 Subtree of the current row index (used in Cholesky Decomposition).
 
MatrixXs osim
 Operational space inertia matrix;.
 
Eigen::LLT< MatrixXs > osim_llt
 
 oYaba_contact
 Articulated Body Inertia matrix with contact apparent inertia, of a given the subtree and expressed in the WORLD coordinate frame.
 
std::vector< intparents_fromRow
 First previous non-zero row in M (used in Cholesky Decomposition).
 
Scalar potential_energy
 Potential energy of the system.
 
RowVectorXs potentialEnergyRegressor
 Matrix related to potential energy regressor.
 
VectorXs primal_dual_contact_solution
 RHS vector when solving the contact dynamics KKT problem.
 
VectorXs primal_rhs_contact
 Primal RHS in contact dynamic equations.
 
Matrix6x psid
 psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj
 
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
 
Matrix6x SDinv
 Used in computeMinverse.
 
MatrixXs sDUiJt
 Temporary corresponding to \( \sqrt{D} U^{-1} J^{\top} \).
 
std::vector< intstart_idx_v_fromRow
 Starting index of the Joint motion subspace.
 
Matrix3x staticRegressor
 Matrix related to static regressor.
 
std::vector< std::vector< int > > supports_fromRow
 Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it.
 
TangentVectorType tau
 Vector of joint torques (dim model.nv).
 
VectorXs tmp
 Temporary of size NV used in Cholesky Decomposition.
 
VectorXs torque_residual
 Temporary corresponding to the residual torque \( \tau - b(q,\dot{q}) \).
 
TangentVectorType u
 Intermediate quantity corresponding to apparent torque [ABA].
 
MatrixXs U
 Joint space inertia matrix square root (upper triangular part) computed with a Cholesky Decomposition.
 
Matrix6x UDinv
 Used in computeMinverse.
 

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 40 of file data.hpp.

Member Typedef Documentation

◆ BodyRegressorType

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 6, 10, Options> BodyRegressorType

The type of the body regressor.

Definition at line 102 of file data.hpp.

◆ ConfigVectorType

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef VectorXs ConfigVectorType

Dense vectorized version of a joint configuration vector.

Definition at line 84 of file data.hpp.

◆ Force

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef ForceTpl<Scalar, Options> Force

Definition at line 58 of file data.hpp.

◆ Frame

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef FrameTpl<Scalar, Options> Frame

Definition at line 60 of file data.hpp.

◆ FrameIndex

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef pinocchio::FrameIndex FrameIndex

Definition at line 65 of file data.hpp.

◆ GeomIndex

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef pinocchio::GeomIndex GeomIndex

Definition at line 64 of file data.hpp.

◆ Index

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef pinocchio::Index Index

Definition at line 62 of file data.hpp.

◆ IndexVector

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef std::vector<Index> IndexVector

Definition at line 66 of file data.hpp.

◆ Inertia

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef InertiaTpl<Scalar, Options> Inertia

Definition at line 59 of file data.hpp.

◆ JointCollection

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef JointCollectionTpl<Scalar, Options> JointCollection

Definition at line 52 of file data.hpp.

◆ JointData

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointData

Definition at line 69 of file data.hpp.

◆ JointIndex

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef pinocchio::JointIndex JointIndex

Definition at line 63 of file data.hpp.

◆ JointModel

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel

Definition at line 68 of file data.hpp.

◆ Matrix3x

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x

The 3d jacobian type (temporary)

Definition at line 94 of file data.hpp.

◆ Matrix6

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6

Definition at line 96 of file data.hpp.

◆ Matrix6x

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6x

The 6d jacobian type (temporary)

Definition at line 92 of file data.hpp.

◆ MatrixXs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs

Definition at line 74 of file data.hpp.

◆ Model

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model

Definition at line 54 of file data.hpp.

◆ Motion

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef MotionTpl<Scalar, Options> Motion

Definition at line 57 of file data.hpp.

◆ RowMatrix6

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 6, 6, Eigen::RowMajor | Options> RowMatrix6

Definition at line 97 of file data.hpp.

◆ RowMatrixXs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Options> RowMatrixXs

Definition at line 99 of file data.hpp.

◆ RowVectorXs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 1, Eigen::Dynamic, Options | Eigen::RowMajor> RowVectorXs

Definition at line 76 of file data.hpp.

◆ Scalar

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef _Scalar Scalar

Definition at line 46 of file data.hpp.

◆ SE3

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef SE3Tpl<Scalar, Options> SE3

Definition at line 56 of file data.hpp.

◆ TangentVectorType

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef VectorXs TangentVectorType

Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).

Definition at line 89 of file data.hpp.

◆ Tensor3x

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Tensor<Scalar, 3, Options> Tensor3x

 

The type of Tensor for Kinematics and Dynamics second order derivatives

Definition at line 105 of file data.hpp.

◆ Vector3

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3

Definition at line 77 of file data.hpp.

◆ Vector6

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6

Definition at line 78 of file data.hpp.

◆ Vector6c

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6c

Definition at line 80 of file data.hpp.

◆ Vector6r

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, 1, 6, Eigen::RowMajor | Options> Vector6r

Definition at line 81 of file data.hpp.

◆ VectorXs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs

Definition at line 75 of file data.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
anonymous enum

Definition at line 47 of file data.hpp.

Constructor & Destructor Documentation

◆ DataTpl() [1/2]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
DataTpl ( const Model model)
explicit

Default constructor of pinocchio::Data from a pinocchio::Model.

Parameters
[in]modelThe model structure of the rigid body system.

◆ DataTpl() [2/2]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
DataTpl ( )
inline

Default constructor.

Definition at line 604 of file data.hpp.

Member Data Documentation

◆ Ag

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x Ag

Centroidal Momentum Matrix.

Note
\( hg = A_g \dot{q}\) maps the joint velocity set to the centroidal momentum.

Definition at line 284 of file data.hpp.

◆ bodyRegressor

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
BodyRegressorType bodyRegressor

Body regressor.

Definition at line 511 of file data.hpp.

◆ C

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs C

The Coriolis matrix (a square matrix of dim model.nv).

Definition at line 205 of file data.hpp.

◆ contact_chol

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
ContactCholeskyDecomposition contact_chol

Cholesky decomposition of the KKT contact matrix.

Definition at line 546 of file data.hpp.

◆ ContactCholeskyDecomposition

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef ContactCholeskyDecompositionTpl<Scalar, Options> ContactCholeskyDecomposition

Definition at line 110 of file data.hpp.

◆ D

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs D

Diagonal of the joint space inertia matrix obtained by a Cholesky Decomposition.

Definition at line 340 of file data.hpp.

◆ d2tau_dadq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Tensor3x d2tau_dadq

SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration.

Definition at line 576 of file data.hpp.

◆ d2tau_dqdq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Tensor3x d2tau_dqdq

SO Partial derivative of the joint torque vector with respect to the joint configuration.

Definition at line 562 of file data.hpp.

◆ d2tau_dqdv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Tensor3x d2tau_dqdv

SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity.

Definition at line 570 of file data.hpp.

◆ d2tau_dvdv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Tensor3x d2tau_dvdv

SO Partial derivative of the joint torque vector with respect to the joint velocity.

Definition at line 566 of file data.hpp.

◆ dac_da

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dac_da

Definition at line 423 of file data.hpp.

◆ dac_dq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dac_dq

Definition at line 421 of file data.hpp.

◆ dac_dv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dac_dv

Definition at line 422 of file data.hpp.

◆ dAdq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dAdq

Variation of the spatial acceleration set with respect to the joint configuration.

Definition at line 394 of file data.hpp.

◆ dAdv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dAdv

Variation of the spatial acceleration set with respect to the joint velocity.

Definition at line 397 of file data.hpp.

◆ dAg

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dAg

Centroidal Momentum Matrix Time Variation.

Note
\( \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}\) maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.

Definition at line 290 of file data.hpp.

◆ ddJ

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x ddJ

Second derivative of the Jacobian with respect to the time.

Definition at line 380 of file data.hpp.

◆ ddq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
TangentVectorType ddq

The joint accelerations computed from ABA.

Definition at line 256 of file data.hpp.

◆ ddq_dq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrixXs ddq_dq

Partial derivative of the joint acceleration vector with respect to the joint configuration.

Definition at line 408 of file data.hpp.

◆ ddq_dtau

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrixXs ddq_dtau

Partial derivative of the joint acceleration vector with respect to the joint torques.

Definition at line 416 of file data.hpp.

◆ ddq_dv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrixXs ddq_dv

Partial derivative of the joint acceleration vector with respect to the joint velocity.

Definition at line 412 of file data.hpp.

◆ dFda

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dFda

Variation of the forceset with respect to the joint acceleration.

Definition at line 217 of file data.hpp.

◆ dFdq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dFdq

Variation of the forceset with respect to the joint configuration.

Definition at line 211 of file data.hpp.

◆ dFdv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dFdv

Variation of the forceset with respect to the joint velocity.

Definition at line 214 of file data.hpp.

◆ dHdq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dHdq

Variation of the spatial momenta set with respect to the joint configuration.

Definition at line 208 of file data.hpp.

◆ dhg

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Force dhg

Centroidal momentum time derivative.

Note
The centroidal momentum time derivative is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).
\( \dot{h_g} = \left( m\ddot{c}, \dot{L}_{g} \right); \). \( \dot{h_g} \) is the stack of the linear momentum variation and the angular momemtum variation.

Definition at line 305 of file data.hpp.

◆ diff_lambda_c

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs diff_lambda_c

Difference between two consecutive iterations of the proxy algorithm.

Definition at line 492 of file data.hpp.

◆ Dinv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs Dinv

Diagonal inverse of the joint space inertia matrix obtained by a Cholesky Decomposition.

Definition at line 344 of file data.hpp.

◆ dJ

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dJ

Derivative of the Jacobian with respect to the time.

Definition at line 377 of file data.hpp.

◆ dlambda_dq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dlambda_dq

Partial derivatives of the constraints forces with respect to the joint configuration, velocity and torque;.

Definition at line 430 of file data.hpp.

◆ dlambda_dtau

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dlambda_dtau

Definition at line 432 of file data.hpp.

◆ dlambda_dv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dlambda_dv

Definition at line 431 of file data.hpp.

◆ dlambda_dx_prox

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dlambda_dx_prox

Definition at line 433 of file data.hpp.

◆ dq_after

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
TangentVectorType dq_after

Generalized velocity after impact.

Definition at line 501 of file data.hpp.

◆ drhs_prox

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs drhs_prox

Definition at line 433 of file data.hpp.

◆ dtau_dq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrixXs dtau_dq

Partial derivative of the joint torque vector with respect to the joint configuration.

Definition at line 401 of file data.hpp.

◆ dtau_dv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrixXs dtau_dv

Partial derivative of the joint torque vector with respect to the joint velocity.

Definition at line 404 of file data.hpp.

◆ dvc_dq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs dvc_dq

Stack of partial derivative of the contact frame acceleration with respect to the joint parameters.

Definition at line 420 of file data.hpp.

◆ dVdq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x dVdq

Variation of the spatial velocity set with respect to the joint configuration.

Definition at line 391 of file data.hpp.

◆ end_idx_v_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> end_idx_v_fromRow

End index of the Joint motion subspace.

Definition at line 325 of file data.hpp.

◆ extended_motion_propagator

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
extended_motion_propagator

Definition at line 583 of file data.hpp.

◆ g

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs g

Vector of generalized gravity (dim model.nv).

Note
In the multibody dynamics equation \( M\ddot{q} + c(q, \dot{q}) + g(q) = \tau \), the gravity effect is associated to the \(g\) term.

Definition at line 184 of file data.hpp.

◆ hg

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Force hg

Centroidal momentum quantity.

Note
The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).
\( h_g = \left( m\dot{c}, L_{g} \right); \). \( h_g \) is the stack of the linear momentum and the angular momemtum vectors.

Definition at line 297 of file data.hpp.

◆ idx_vExtended_to_idx_v_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
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 at line 329 of file data.hpp.

◆ Ig

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Inertia Ig

Centroidal Composite Rigid Body Inertia.

Note
\( hg = Ig v_{\text{mean}}\) map a mean velocity to the current centroidal momentum quantity.

Definition at line 310 of file data.hpp.

◆ impulse_c

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs impulse_c

Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.

Definition at line 505 of file data.hpp.

◆ IS

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x IS

Used in computeMinverse.

Definition at line 226 of file data.hpp.

◆ Itmp

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6 Itmp

Temporary for derivative algorithms.

Definition at line 248 of file data.hpp.

◆ J

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x J

Jacobian of joint placements.

Note
The columns of J corresponds to the basis of the spatial velocities of each joint and expressed at the origin of the inertial frame. In other words, if \( v_{J_{i}} = S_{i} \dot{q}_{i}\) is the relative velocity of the joint i regarding to its parent, then \(J = \begin{bmatrix} ^{0}X_{1} S_{1} & \cdots & ^{0}X_{i} S_{i} & \cdots & ^{0}X_{\text{nvExtended}} S_{\text{nvExtended}} \end{bmatrix} \). This Jacobian has no special meaning. To get the jacobian of a precise joint, you need to call pinocchio::getJointJacobian

Definition at line 374 of file data.hpp.

◆ Jcom

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix3x Jcom

Jacobian of center of mass.

Note
This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertial frame. In other words, \( v_{\text{CoM}} = J_{\text{CoM}} \dot{q}\).

Definition at line 464 of file data.hpp.

◆ JMinvJt

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs JMinvJt

Inverse of the operational-space inertia matrix.

Definition at line 478 of file data.hpp.

◆ joints

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
PINOCCHIO_COMPILER_DIAGNOSTIC_POP JointDataVector joints

Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.

Definition at line 115 of file data.hpp.

◆ jointTorqueRegressor

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs jointTorqueRegressor

Matrix related to joint torque regressor.

Definition at line 514 of file data.hpp.

◆ kinematic_hessians

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Tensor3x kinematic_hessians

Tensor containing the kinematic Hessian of all the joints.

Definition at line 539 of file data.hpp.

◆ kinetic_energy

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Scalar kinetic_energy

Kinetic energy of the system.

Definition at line 467 of file data.hpp.

◆ kineticEnergyRegressor

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowVectorXs kineticEnergyRegressor

Matrix related to kinetic energy regressor.

Definition at line 517 of file data.hpp.

◆ lambda_c

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs lambda_c

Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.

Definition at line 485 of file data.hpp.

◆ lambda_c_prox

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs lambda_c_prox

Proximal Lagrange Multipliers used in the computation of the Forward Dynamics computations.

Definition at line 489 of file data.hpp.

◆ lastChild

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> lastChild

Index of the last child (for CRBA)

Definition at line 316 of file data.hpp.

◆ llt_JMinvJt

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Eigen::LLT<MatrixXs> llt_JMinvJt

Cholesky decompostion of \(JMinvJt\).

Definition at line 481 of file data.hpp.

◆ M

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs M

The joint space inertia matrix (a square matrix of dim model.nv).

Definition at line 199 of file data.hpp.

◆ M6tmp

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6 M6tmp

Temporary for derivative algorithms.

Definition at line 251 of file data.hpp.

◆ M6tmpR

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrix6 M6tmpR

Definition at line 252 of file data.hpp.

◆ M6tmpR2

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrix6 M6tmpR2

Definition at line 253 of file data.hpp.

◆ mass

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<Scalar> mass

Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \( j \). The element mass[0] corresponds to the total mass of the model.

Definition at line 458 of file data.hpp.

◆ mechanical_energy

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Scalar mechanical_energy

Mechanical energy of the system.

Definition at line 473 of file data.hpp.

◆ mimic_parents_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> mimic_parents_fromRow

First previous non-zero row belonging to a mimic joint in M (used in Jacobian).

Definition at line 353 of file data.hpp.

◆ mimic_subtree_joint

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
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 non mimic child.

Definition at line 333 of file data.hpp.

◆ Minv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowMatrixXs Minv

The inverse of the joint space inertia matrix (a square matrix of dim model.nv).

Definition at line 202 of file data.hpp.

◆ nle

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs nle

Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.

Note
In the multibody dynamics equation \( M\ddot{q} + b(q, \dot{q}) = \tau \), the non linear effects are associated to the term \(b\).

Definition at line 179 of file data.hpp.

◆ non_mimic_parents_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> non_mimic_parents_fromRow

First previous non-zero row belonging to a non mimic joint in M (used in Jacobian).

Definition at line 356 of file data.hpp.

◆ nvSubtree

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> nvSubtree

Dimension of the subtree motion space (for CRBA)

Definition at line 319 of file data.hpp.

◆ nvSubtree_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> nvSubtree_fromRow

Subtree of the current row index (used in Cholesky Decomposition).

Definition at line 364 of file data.hpp.

◆ osim

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs osim

Operational space inertia matrix;.

Definition at line 426 of file data.hpp.

◆ osim_llt

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Eigen::LLT<MatrixXs> osim_llt

Definition at line 530 of file data.hpp.

◆ oYaba_contact

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
oYaba_contact

Articulated Body Inertia matrix with contact apparent inertia, of a given the subtree and expressed in the WORLD coordinate frame.

Definition at line 270 of file data.hpp.

◆ parents_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> parents_fromRow

First previous non-zero row in M (used in Cholesky Decomposition).

Definition at line 350 of file data.hpp.

◆ potential_energy

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Scalar potential_energy

Potential energy of the system.

Definition at line 470 of file data.hpp.

◆ potentialEnergyRegressor

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
RowVectorXs potentialEnergyRegressor

Matrix related to potential energy regressor.

Definition at line 520 of file data.hpp.

◆ primal_dual_contact_solution

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs primal_dual_contact_solution

RHS vector when solving the contact dynamics KKT problem.

Definition at line 549 of file data.hpp.

◆ primal_rhs_contact

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs primal_rhs_contact

Primal RHS in contact dynamic equations.

Definition at line 552 of file data.hpp.

◆ psid

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x psid

psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj

Definition at line 384 of file data.hpp.

◆ psidd

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
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 at line 388 of file data.hpp.

◆ SDinv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x SDinv

Used in computeMinverse.

Definition at line 220 of file data.hpp.

◆ sDUiJt

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs sDUiJt

Temporary corresponding to \( \sqrt{D} U^{-1} J^{\top} \).

Definition at line 495 of file data.hpp.

◆ start_idx_v_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<int> start_idx_v_fromRow

Starting index of the Joint motion subspace.

Definition at line 322 of file data.hpp.

◆ staticRegressor

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix3x staticRegressor

Matrix related to static regressor.

Definition at line 508 of file data.hpp.

◆ supports_fromRow

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
std::vector<std::vector<int> > supports_fromRow

Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it.

Definition at line 361 of file data.hpp.

◆ tau

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
TangentVectorType tau

Vector of joint torques (dim model.nv).

Definition at line 173 of file data.hpp.

◆ tmp

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs tmp

Temporary of size NV used in Cholesky Decomposition.

Definition at line 347 of file data.hpp.

◆ torque_residual

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
VectorXs torque_residual

Temporary corresponding to the residual torque \( \tau - b(q,\dot{q}) \).

Definition at line 498 of file data.hpp.

◆ u

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
TangentVectorType u

Intermediate quantity corresponding to apparent torque [ABA].

Definition at line 279 of file data.hpp.

◆ U

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
MatrixXs U

Joint space inertia matrix square root (upper triangular part) computed with a Cholesky Decomposition.

Definition at line 337 of file data.hpp.

◆ UDinv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>
Matrix6x UDinv

Used in computeMinverse.

Definition at line 223 of file data.hpp.


The documentation for this struct was generated from the following files: