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// |
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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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#include "pinocchio/algorithm/compute-all-terms.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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static void computeAllTerms_proxy( |
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const context::Model & model, |
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context::Data & data, |
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const context::VectorXs & q, |
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const context::VectorXs & v) |
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{ |
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data.M.fill(context::Scalar(0)); |
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computeAllTerms(model, data, q, v); |
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data.M.triangularView<Eigen::StrictlyLower>() = |
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data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
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} |
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void exposeCAT() |
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{ |
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bp::def( |
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"computeAllTerms", computeAllTerms_proxy, bp::args("model", "data", "q", "v"), |
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"Compute all the terms M, non linear effects, center of mass quantities, centroidal " |
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"quantities and Jacobians in" |
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"in the same loop and store the results in data.\n" |
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"This algorithm is equivalent to calling:\n" |
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"\t- forwardKinematics\n" |
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"\t- crba\n" |
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"\t- nonLinearEffects\n" |
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"\t- computeJointJacobians\n" |
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"\t- centerOfMass\n" |
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"\t- jacobianCenterOfMass\n" |
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"\t- ccrba\n" |
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"\t- computeKineticEnergy\n" |
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"\t- computePotentialEnergy\n" |
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"\t- computeGeneralizedGravity\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n"); |
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} |
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} // namespace python |
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} // namespace pinocchio |
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