5 #ifndef __pinocchio_algorithm_centroidal_hpp__
6 #define __pinocchio_algorithm_centroidal_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/kinematics.hpp"
28 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
29 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
31 DataTpl<Scalar,Options,JointCollectionTpl> & data);
50 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
51 typename ConfigVectorType,
typename TangentVectorType>
52 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
55 const Eigen::MatrixBase<ConfigVectorType> & q,
56 const Eigen::MatrixBase<TangentVectorType> & v)
66 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
67 typename ConfigVectorType,
typename TangentVectorType>
69 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
72 const Eigen::MatrixBase<ConfigVectorType> & q,
73 const Eigen::MatrixBase<TangentVectorType> & v)
92 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
93 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
95 DataTpl<Scalar,Options,JointCollectionTpl> & data);
117 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
118 typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
119 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
122 const Eigen::MatrixBase<ConfigVectorType> & q,
123 const Eigen::MatrixBase<TangentVectorType1> & v,
124 const Eigen::MatrixBase<TangentVectorType2> & a)
134 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
135 typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
137 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
140 const Eigen::MatrixBase<ConfigVectorType> & q,
141 const Eigen::MatrixBase<TangentVectorType1> & v,
142 const Eigen::MatrixBase<TangentVectorType2> & a)
164 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
166 ccrba(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
167 DataTpl<Scalar,Options,JointCollectionTpl> & data,
168 const Eigen::MatrixBase<ConfigVectorType> & q,
169 const Eigen::MatrixBase<TangentVectorType> & v);
185 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
188 DataTpl<Scalar,Options,JointCollectionTpl> & data,
189 const Eigen::MatrixBase<ConfigVectorType> & q);
209 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
211 dccrba(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
212 DataTpl<Scalar,Options,JointCollectionTpl> & data,
213 const Eigen::MatrixBase<ConfigVectorType> & q,
214 const Eigen::MatrixBase<TangentVectorType> & v);
232 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
235 DataTpl<Scalar,Options,JointCollectionTpl> & data,
236 const Eigen::MatrixBase<ConfigVectorType> & q,
237 const Eigen::MatrixBase<TangentVectorType> & v);
242 #include "pinocchio/algorithm/centroidal.hxx"
244 #endif // ifndef __pinocchio_algorithm_centroidal_hpp__