pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
aba.hpp
1 //
2 // Copyright (c) 2016-2021 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_aba_hpp__
6 #define __pinocchio_algorithm_aba_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/check.hpp"
11 
12 namespace pinocchio
13 {
34  template<
35  typename Scalar,
36  int Options,
37  template<typename, int> class JointCollectionTpl,
38  typename ConfigVectorType,
39  typename TangentVectorType1,
40  typename TangentVectorType2>
41  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & aba(
42  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
43  DataTpl<Scalar, Options, JointCollectionTpl> & data,
44  const Eigen::MatrixBase<ConfigVectorType> & q,
45  const Eigen::MatrixBase<TangentVectorType1> & v,
46  const Eigen::MatrixBase<TangentVectorType2> & tau,
47  const Convention convention = Convention::LOCAL);
48 
71  template<
72  typename Scalar,
73  int Options,
74  template<typename, int> class JointCollectionTpl,
75  typename ConfigVectorType,
76  typename TangentVectorType1,
77  typename TangentVectorType2,
78  typename ForceDerived>
79  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & aba(
80  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
81  DataTpl<Scalar, Options, JointCollectionTpl> & data,
82  const Eigen::MatrixBase<ConfigVectorType> & q,
83  const Eigen::MatrixBase<TangentVectorType1> & v,
84  const Eigen::MatrixBase<TangentVectorType2> & tau,
85  const container::aligned_vector<ForceDerived> & fext,
86  const Convention rf = Convention::LOCAL);
87 
101  template<
102  typename Scalar,
103  int Options,
104  template<typename, int> class JointCollectionTpl,
105  typename ConfigVectorType>
106  const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
107  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
108  DataTpl<Scalar, Options, JointCollectionTpl> & data,
109  const Eigen::MatrixBase<ConfigVectorType> & q);
110 
124  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
125  const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
126  const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
127  DataTpl<Scalar, Options, JointCollectionTpl> & data);
128 
129  PINOCCHIO_DEFINE_ALGO_CHECKER(ABA);
130 
131 } // namespace pinocchio
132 
133 /* --- Details -------------------------------------------------------------------- */
134 #include "pinocchio/algorithm/aba.hxx"
135 
136 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
137  #include "pinocchio/algorithm/aba.txx"
138 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
139 
140 #endif // ifndef __pinocchio_algorithm_aba_hpp__
pinocchio::Convention
Convention
List of convention to call algorithms.
Definition: fwd.hpp:74
pinocchio::Convention::LOCAL
@ LOCAL
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:11
pinocchio::aba
const 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 Convention convention=Convention::LOCAL)
The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given t...
pinocchio::computeMinverse
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & computeMinverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the inverse of the joint space inertia matrix using Articulated Body formulation.
pinocchio::DataTpl::TangentVectorType
VectorXs TangentVectorType
Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc)....
Definition: data.hpp:89