5 #ifndef __pinocchio_algorithm_frames_hpp__
6 #define __pinocchio_algorithm_frames_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
24 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
26 DataTpl<Scalar,Options,JointCollectionTpl> & data);
39 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
40 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::SE3 &
42 DataTpl<Scalar,Options,JointCollectionTpl> & data,
43 const FrameIndex frame_id);
57 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
59 DataTpl<Scalar,Options,JointCollectionTpl> & data,
60 const Eigen::MatrixBase<ConfigVectorType> & q);
74 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
96 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
97 inline MotionTpl<Scalar, Options>
99 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
100 const FrameIndex frame_id,
116 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
117 inline MotionTpl<Scalar, Options>
119 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
120 const FrameIndex frame_id,
137 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
138 inline MotionTpl<Scalar, Options>
140 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
141 const FrameIndex frame_id,
164 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xLike>
165 inline void getFrameJacobian(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
166 DataTpl<Scalar,Options,JointCollectionTpl> & data,
167 const FrameIndex frame_id,
169 const Eigen::MatrixBase<Matrix6xLike> & J);
190 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6xLike>
192 DataTpl<Scalar,Options,JointCollectionTpl> & data,
193 const Eigen::MatrixBase<ConfigVectorType> & q,
194 const FrameIndex frameId,
196 const Eigen::MatrixBase<Matrix6xLike> & J);
217 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6xLike>
220 const Eigen::MatrixBase<ConfigVectorType> & q,
221 const FrameIndex frameId,
222 const Eigen::MatrixBase<Matrix6xLike> & J)
225 PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike,J));
233 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6xLike>
237 const Eigen::MatrixBase<ConfigVectorType> & q,
238 const FrameIndex frameId,
239 const Eigen::MatrixBase<Matrix6xLike> & J)
258 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xLike>
260 DataTpl<Scalar,Options,JointCollectionTpl> & data,
261 const FrameIndex frame_id,
263 const Eigen::MatrixBase<Matrix6xLike> & dJ);
291 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
292 InertiaTpl<Scalar, Options>
294 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
295 const FrameIndex frame_id,
324 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
325 ForceTpl<Scalar, Options>
327 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
328 const FrameIndex frame_id);
333 #include "pinocchio/algorithm/frames.hxx"
335 #endif // ifndef __pinocchio_algorithm_frames_hpp__