| Directory: | ./ |
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| File: | include/pinocchio/algorithm/regressor.hpp |
| Date: | 2025-02-12 21:03:38 |
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| 1 | // | ||
| 2 | // Copyright (c) 2018-2020 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_algorithm_regressor_hpp__ | ||
| 6 | #define __pinocchio_algorithm_regressor_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/multibody/model.hpp" | ||
| 9 | #include "pinocchio/multibody/data.hpp" | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | |||
| 14 | /// | ||
| 15 | /// \copydoc computeJointKinematicRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> | ||
| 16 | /// &,const DataTpl<Scalar,Options,JointCollectionTpl> &, const JointIndex, const ReferenceFrame, | ||
| 17 | /// const SE3Tpl<Scalar,Options> &) | ||
| 18 | /// | ||
| 19 | /// \param[out] kinematic_regressor The kinematic regressor containing the result. Matrix of size | ||
| 20 | /// 6*(model.njoints-1) initialized to 0. | ||
| 21 | /// | ||
| 22 | template< | ||
| 23 | typename Scalar, | ||
| 24 | int Options, | ||
| 25 | template<typename, int> class JointCollectionTpl, | ||
| 26 | typename Matrix6xReturnType> | ||
| 27 | void computeJointKinematicRegressor( | ||
| 28 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 29 | const DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 30 | const JointIndex joint_id, | ||
| 31 | const ReferenceFrame rf, | ||
| 32 | const SE3Tpl<Scalar, Options> & placement, | ||
| 33 | const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor); | ||
| 34 | |||
| 35 | /// | ||
| 36 | /// \brief Computes the kinematic regressor that links the joint placements variations of the | ||
| 37 | /// whole kinematic tree | ||
| 38 | /// to the placement variation of the frame rigidly attached to the joint and given by its | ||
| 39 | /// placement w.r.t. to the joint frame. | ||
| 40 | /// | ||
| 41 | /// \remarks It assumes that the \ref forwardKinematics(const | ||
| 42 | /// ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, | ||
| 43 | /// const Eigen::MatrixBase<ConfigVectorType> &) has been called first. | ||
| 44 | /// | ||
| 45 | /// \param[in] model The model structure of the rigid body system. | ||
| 46 | /// \param[in] data The data structure of the rigid body system. | ||
| 47 | /// \param[in] joint_id Index of the joint. | ||
| 48 | /// \param[in] rf Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or | ||
| 49 | /// WORLD). \param[in] placement Relative placement to the joint frame. | ||
| 50 | /// | ||
| 51 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 52 | 1 | typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x computeJointKinematicRegressor( | |
| 53 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 54 | const DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 55 | const JointIndex joint_id, | ||
| 56 | const ReferenceFrame rf, | ||
| 57 | const SE3Tpl<Scalar, Options> & placement) | ||
| 58 | { | ||
| 59 | typedef typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x ReturnType; | ||
| 60 |
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1 | ReturnType res(ReturnType::Zero(6, (model.njoints - 1) * 6)); |
| 61 | |||
| 62 |
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1 | computeJointKinematicRegressor(model, data, joint_id, rf, placement, res); |
| 63 | |||
| 64 | 1 | return res; | |
| 65 | } | ||
| 66 | |||
| 67 | /// | ||
| 68 | /// \copydoc computeJointKinematicRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> | ||
| 69 | /// &,const DataTpl<Scalar,Options,JointCollectionTpl> &, const JointIndex, const ReferenceFrame) | ||
| 70 | /// | ||
| 71 | /// \param[out] kinematic_regressor The kinematic regressor containing the result. Matrix of size | ||
| 72 | /// 6*(model.njoints-1) initialized to 0. | ||
| 73 | /// | ||
| 74 | template< | ||
| 75 | typename Scalar, | ||
| 76 | int Options, | ||
| 77 | template<typename, int> class JointCollectionTpl, | ||
| 78 | typename Matrix6xReturnType> | ||
| 79 | void computeJointKinematicRegressor( | ||
| 80 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 81 | const DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 82 | const JointIndex joint_id, | ||
| 83 | const ReferenceFrame rf, | ||
| 84 | const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor); | ||
| 85 | |||
| 86 | /// | ||
| 87 | /// \brief Computes the kinematic regressor that links the joint placement variations of the whole | ||
| 88 | /// kinematic tree | ||
| 89 | /// to the placement variation of the joint given as input. | ||
| 90 | /// | ||
| 91 | /// \remarks It assumes that the \ref forwardKinematics(const | ||
| 92 | /// ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, | ||
| 93 | /// const Eigen::MatrixBase<ConfigVectorType> &) has been called first. | ||
| 94 | /// | ||
| 95 | /// \param[in] model The model structure of the rigid body system. | ||
| 96 | /// \param[in] data The data structure of the rigid body system. | ||
| 97 | /// \param[in] joint_id Index of the joint. | ||
| 98 | /// \param[in] rf Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or | ||
| 99 | /// WORLD). | ||
| 100 | /// | ||
| 101 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 102 | 1 | typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x computeJointKinematicRegressor( | |
| 103 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 104 | const DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 105 | const JointIndex joint_id, | ||
| 106 | const ReferenceFrame rf) | ||
| 107 | { | ||
| 108 | typedef typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x ReturnType; | ||
| 109 |
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1 | ReturnType res(ReturnType::Zero(6, (model.njoints - 1) * 6)); |
| 110 | |||
| 111 |
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1 | computeJointKinematicRegressor(model, data, joint_id, rf, res); |
| 112 | |||
| 113 | 1 | return res; | |
| 114 | } | ||
| 115 | |||
| 116 | /// | ||
| 117 | /// \copydoc computeFrameKinematicRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> &, | ||
| 118 | /// DataTpl<Scalar,Options,JointCollectionTpl> &, const FrameIndex, const ReferenceFrame) | ||
| 119 | /// | ||
| 120 | /// \param[out] kinematic_regressor The kinematic regressor containing the result. Matrix of size | ||
| 121 | /// 6*(model.njoints-1) initialized to 0. | ||
| 122 | /// | ||
| 123 | template< | ||
| 124 | typename Scalar, | ||
| 125 | int Options, | ||
| 126 | template<typename, int> class JointCollectionTpl, | ||
| 127 | typename Matrix6xReturnType> | ||
| 128 | void computeFrameKinematicRegressor( | ||
| 129 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 130 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 131 | const FrameIndex frame_id, | ||
| 132 | const ReferenceFrame rf, | ||
| 133 | const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor); | ||
| 134 | |||
| 135 | /// | ||
| 136 | /// \brief Computes the kinematic regressor that links the joint placement variations of the whole | ||
| 137 | /// kinematic tree | ||
| 138 | /// to the placement variation of the frame given as input. | ||
| 139 | /// | ||
| 140 | /// \remarks It assumes that the \ref framesForwardKinematics(const | ||
| 141 | /// ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, | ||
| 142 | /// const Eigen::MatrixBase<ConfigVectorType> &) has been called first. | ||
| 143 | /// | ||
| 144 | /// \param[in] model The model structure of the rigid body system. | ||
| 145 | /// \param[in] data The data structure of the rigid body system. | ||
| 146 | /// \param[in] frame_id Index of the frame. | ||
| 147 | /// \param[in] rf Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or | ||
| 148 | /// WORLD). | ||
| 149 | /// | ||
| 150 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 151 | 1 | typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x computeFrameKinematicRegressor( | |
| 152 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 153 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 154 | const FrameIndex frame_id, | ||
| 155 | const ReferenceFrame rf) | ||
| 156 | { | ||
| 157 | typedef typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x ReturnType; | ||
| 158 |
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1 | ReturnType res(ReturnType::Zero(6, (model.njoints - 1) * 6)); |
| 159 | |||
| 160 |
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1 | computeFrameKinematicRegressor(model, data, frame_id, rf, res); |
| 161 | |||
| 162 | 1 | return res; | |
| 163 | } | ||
| 164 | |||
| 165 | /// | ||
| 166 | /// \brief Computes the static regressor that links the center of mass positions of all the links | ||
| 167 | /// to the center of mass of the complete model according to the current configuration of | ||
| 168 | /// the robot. | ||
| 169 | /// | ||
| 170 | /// The result is stored in `data.staticRegressor` and it corresponds to a matrix \f$ Y \f$ such | ||
| 171 | /// that \f$ c = Y(q,\dot{q},\ddot{q})\tilde{\pi} \f$ where \f$ \tilde{\pi} = | ||
| 172 | /// (\tilde{\pi}_1^T\ \dots\ \tilde{\pi}_n^T)^T \f$ and \f$ \tilde{\pi}_i = | ||
| 173 | /// \text{model.inertias[i].toDynamicParameters().head<4>()} \f$ | ||
| 174 | /// | ||
| 175 | /// \tparam JointCollection Collection of Joint types. | ||
| 176 | /// \tparam ConfigVectorType Type of the joint configuration vector. | ||
| 177 | /// | ||
| 178 | /// \param[in] model The model structure of the rigid body system. | ||
| 179 | /// \param[in] data The data structure of the rigid body system. | ||
| 180 | /// \param[in] q The joint configuration vector (dim model.nq). | ||
| 181 | /// | ||
| 182 | /// \return The static regressor of the system. | ||
| 183 | /// | ||
| 184 | template< | ||
| 185 | typename Scalar, | ||
| 186 | int Options, | ||
| 187 | template<typename, int> class JointCollectionTpl, | ||
| 188 | typename ConfigVectorType> | ||
| 189 | inline typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & computeStaticRegressor( | ||
| 190 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 191 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 192 | const Eigen::MatrixBase<ConfigVectorType> & q); | ||
| 193 | |||
| 194 | /// | ||
| 195 | /// \brief Computes the regressor for the dynamic parameters of a single rigid body. | ||
| 196 | /// | ||
| 197 | /// The result is such that | ||
| 198 | /// \f$ I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters() \f$ | ||
| 199 | /// | ||
| 200 | /// \param[in] v Velocity of the rigid body | ||
| 201 | /// \param[in] a Acceleration of the rigid body | ||
| 202 | /// \param[out] regressor The resulting regressor of the body. | ||
| 203 | /// | ||
| 204 | template<typename MotionVelocity, typename MotionAcceleration, typename OutputType> | ||
| 205 | inline void bodyRegressor( | ||
| 206 | const MotionDense<MotionVelocity> & v, | ||
| 207 | const MotionDense<MotionAcceleration> & a, | ||
| 208 | const Eigen::MatrixBase<OutputType> & regressor); | ||
| 209 | |||
| 210 | /// | ||
| 211 | /// \brief Computes the regressor for the dynamic parameters of a single rigid body. | ||
| 212 | /// | ||
| 213 | /// The result is such that | ||
| 214 | /// \f$ I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters() \f$ | ||
| 215 | /// | ||
| 216 | /// \param[in] v Velocity of the rigid body | ||
| 217 | /// \param[in] a Acceleration of the rigid body | ||
| 218 | /// | ||
| 219 | /// \return The regressor of the body. | ||
| 220 | /// | ||
| 221 | template<typename MotionVelocity, typename MotionAcceleration> | ||
| 222 | inline Eigen::Matrix< | ||
| 223 | typename MotionVelocity::Scalar, | ||
| 224 | 6, | ||
| 225 | 10, | ||
| 226 | PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options> | ||
| 227 | bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a); | ||
| 228 | |||
| 229 | /// | ||
| 230 | /// \brief Computes the regressor for the dynamic parameters of a rigid body attached to a given | ||
| 231 | /// joint, | ||
| 232 | /// puts the result in data.bodyRegressor and returns it. | ||
| 233 | /// | ||
| 234 | /// This algorithm assumes RNEA has been run to compute the acceleration and gravitational | ||
| 235 | /// effects. | ||
| 236 | /// | ||
| 237 | /// The result is such that | ||
| 238 | /// \f$ f = \text{jointBodyRegressor(model,data,joint_id) * I.toDynamicParameters()} \f$ | ||
| 239 | /// where \f$ f \f$ is the net force acting on the body, including gravity | ||
| 240 | /// | ||
| 241 | /// \param[in] model The model structure of the rigid body system. | ||
| 242 | /// \param[in] data The data structure of the rigid body system. | ||
| 243 | /// \param[in] joint_id The id of the joint. | ||
| 244 | /// | ||
| 245 | /// \return The regressor of the body. | ||
| 246 | /// | ||
| 247 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 248 | inline typename DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType & | ||
| 249 | jointBodyRegressor( | ||
| 250 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 251 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 252 | JointIndex joint_id); | ||
| 253 | |||
| 254 | /// | ||
| 255 | /// \brief Computes the regressor for the dynamic parameters of a rigid body attached to a given | ||
| 256 | /// frame, | ||
| 257 | /// puts the result in data.bodyRegressor and returns it. | ||
| 258 | /// | ||
| 259 | /// This algorithm assumes RNEA has been run to compute the acceleration and gravitational | ||
| 260 | /// effects. | ||
| 261 | /// | ||
| 262 | /// The result is such that | ||
| 263 | /// \f$ f = \text{frameBodyRegressor(model,data,frame_id) * I.toDynamicParameters()} \f$ | ||
| 264 | /// where \f$ f \f$ is the net force acting on the body, including gravity | ||
| 265 | /// | ||
| 266 | /// \param[in] model The model structure of the rigid body system. | ||
| 267 | /// \param[in] data The data structure of the rigid body system. | ||
| 268 | /// \param[in] frame_id The id of the frame. | ||
| 269 | /// | ||
| 270 | /// \return The dynamic regressor of the body. | ||
| 271 | /// | ||
| 272 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 273 | inline typename DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType & | ||
| 274 | frameBodyRegressor( | ||
| 275 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 276 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 277 | FrameIndex frame_id); | ||
| 278 | |||
| 279 | /// | ||
| 280 | /// \brief Computes the joint torque regressor that links the joint torque | ||
| 281 | /// to the dynamic parameters of each link according to the current the robot motion. | ||
| 282 | /// | ||
| 283 | /// The result is stored in `data.jointTorqueRegressor` and it corresponds to a matrix \f$ Y \f$ | ||
| 284 | /// such that \f$ \tau = Y(q,\dot{q},\ddot{q})\pi \f$ where \f$ \pi = (\pi_1^T\ \dots\ \pi_n^T)^T | ||
| 285 | /// \f$ and \f$ \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ | ||
| 286 | /// | ||
| 287 | /// \tparam JointCollection Collection of Joint types. | ||
| 288 | /// \tparam ConfigVectorType Type of the joint configuration vector. | ||
| 289 | /// \tparam TangentVectorType1 Type of the joint velocity vector. | ||
| 290 | /// \tparam TangentVectorType2 Type of the joint acceleration vector. | ||
| 291 | /// | ||
| 292 | /// \param[in] model The model structure of the rigid body system. | ||
| 293 | /// \param[in] data The data structure of the rigid body system. | ||
| 294 | /// \param[in] q The joint configuration vector (dim model.nq). | ||
| 295 | /// \param[in] v The joint velocity vector (dim model.nv). | ||
| 296 | /// \param[in] a The joint acceleration vector (dim model.nv). | ||
| 297 | /// | ||
| 298 | /// \return The joint torque regressor of the system. | ||
| 299 | /// | ||
| 300 | /// \warning This function writes temporary information in data.bodyRegressor. This means if you | ||
| 301 | /// have valuable data in it it will be overwritten. | ||
| 302 | /// | ||
| 303 | template< | ||
| 304 | typename Scalar, | ||
| 305 | int Options, | ||
| 306 | template<typename, int> class JointCollectionTpl, | ||
| 307 | typename ConfigVectorType, | ||
| 308 | typename TangentVectorType1, | ||
| 309 | typename TangentVectorType2> | ||
| 310 | inline typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & | ||
| 311 | computeJointTorqueRegressor( | ||
| 312 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 313 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 314 | const Eigen::MatrixBase<ConfigVectorType> & q, | ||
| 315 | const Eigen::MatrixBase<TangentVectorType1> & v, | ||
| 316 | const Eigen::MatrixBase<TangentVectorType2> & a); | ||
| 317 | |||
| 318 | /// | ||
| 319 | /// \brief Computes the kinetic energy regressor that links the kinetic energy of the system to | ||
| 320 | /// the dynamic parameters of each link according to the current robot motion. | ||
| 321 | /// | ||
| 322 | /// The result is stored in `data.kineticEnergyRegressor` and it corresponds to a matrix | ||
| 323 | /// \f$ Y_e \f$ such that \f$ K = Y_e(q,\dot{q})\pi \f$ where | ||
| 324 | /// \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ | ||
| 325 | /// | ||
| 326 | /// \tparam JointCollection Collection of Joint types. | ||
| 327 | /// \tparam ConfigVectorType Type of the joint configuration vector. | ||
| 328 | /// \tparam TangentVectorType Type of the joint velocity vector. | ||
| 329 | /// | ||
| 330 | /// \param[in] model The model structure of the rigid body system. | ||
| 331 | /// \param[in] data The data structure of the rigid body system. | ||
| 332 | /// \param[in] q The joint configuration vector (dim model.nq). | ||
| 333 | /// \param[in] v The joint velocity vector (dim model.nv). | ||
| 334 | /// | ||
| 335 | /// \return The kinetic energy regressor of the system. | ||
| 336 | template< | ||
| 337 | typename Scalar, | ||
| 338 | int Options, | ||
| 339 | template<typename, int> class JointCollectionTpl, | ||
| 340 | typename ConfigVectorType, | ||
| 341 | typename TangentVectorType> | ||
| 342 | const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs & | ||
| 343 | computeKineticEnergyRegressor( | ||
| 344 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 345 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 346 | const Eigen::MatrixBase<ConfigVectorType> & q, | ||
| 347 | const Eigen::MatrixBase<TangentVectorType> & v); | ||
| 348 | |||
| 349 | /// | ||
| 350 | /// \brief Computes the potential energy regressor that links the potential energy | ||
| 351 | /// of the system to the dynamic parameters of each link according to the current robot motion. | ||
| 352 | /// | ||
| 353 | /// The result is stored in `data.potentialEnergyRegressor` and it corresponds to a matrix | ||
| 354 | /// \f$ Y_p \f$ such that \f$ P = Y_p(q)\pi \f$ where | ||
| 355 | /// \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ | ||
| 356 | /// | ||
| 357 | /// \tparam JointCollection Collection of Joint types. | ||
| 358 | /// \tparam ConfigVectorType Type of the joint configuration vector. | ||
| 359 | /// | ||
| 360 | /// \param[in] model The model structure of the rigid body system. | ||
| 361 | /// \param[in] data The data structure of the rigid body system. | ||
| 362 | /// \param[in] q The joint configuration vector (dim model.nq). | ||
| 363 | /// | ||
| 364 | /// \return The kinetic energy regressor of the system. | ||
| 365 | template< | ||
| 366 | typename Scalar, | ||
| 367 | int Options, | ||
| 368 | template<typename, int> class JointCollectionTpl, | ||
| 369 | typename ConfigVectorType> | ||
| 370 | const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs & | ||
| 371 | computePotentialEnergyRegressor( | ||
| 372 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 373 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 374 | const Eigen::MatrixBase<ConfigVectorType> & q); | ||
| 375 | } // namespace pinocchio | ||
| 376 | |||
| 377 | /* --- Details -------------------------------------------------------------------- */ | ||
| 378 | #include "pinocchio/algorithm/regressor.hxx" | ||
| 379 | |||
| 380 | #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION | ||
| 381 | #include "pinocchio/algorithm/regressor.txx" | ||
| 382 | #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION | ||
| 383 | |||
| 384 | #endif // ifndef __pinocchio_algorithm_regressor_hpp__ | ||
| 385 |