aba.hpp

//
// Copyright (c) 2016-2018 CNRS
//
 
#ifndef __pinocchio_aba_hpp__
#define __pinocchio_aba_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
 
namespace pinocchio
{
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  aba(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> & tau);
 
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, typename ForceDerived>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  aba(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> & tau,
      const container::aligned_vector<ForceDerived> & fext);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::RowMatrixXs &
  computeMinverse(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<ConfigVectorType> & q);
 
 
  PINOCCHIO_DEFINE_ALGO_CHECKER(ABA);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/aba.hxx"
 
#endif // ifndef __pinocchio_aba_hpp__