5 #ifndef __pinocchio_jacobian_hpp__
6 #define __pinocchio_jacobian_hpp__
8 #include "pinocchio/multibody/fwd.hpp"
9 #include "pinocchio/multibody/model.hpp"
10 #include "pinocchio/multibody/data.hpp"
29 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
32 DataTpl<Scalar,Options,JointCollectionTpl> & data,
33 const Eigen::MatrixBase<ConfigVectorType> & q);
48 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
51 DataTpl<Scalar,Options,JointCollectionTpl> & data);
77 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6Like>
78 inline void getJointJacobian(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
79 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
80 const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointIndex jointId,
82 const Eigen::MatrixBase<Matrix6Like> & J);
104 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
106 DataTpl<Scalar,Options,JointCollectionTpl> & data,
107 const Eigen::MatrixBase<ConfigVectorType> & q,
108 const JointIndex jointId,
109 const Eigen::MatrixBase<Matrix6Like> & J);
116 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
120 const Eigen::MatrixBase<ConfigVectorType> & q,
121 const JointIndex jointId,
122 const Eigen::MatrixBase<Matrix6Like> & J)
142 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
145 DataTpl<Scalar,Options,JointCollectionTpl> & data,
146 const Eigen::MatrixBase<ConfigVectorType> & q,
147 const Eigen::MatrixBase<TangentVectorType> & v);
162 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6Like>
164 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
165 const JointIndex jointId,
167 const Eigen::MatrixBase<Matrix6Like> & dJ);
175 #include "pinocchio/algorithm/jacobian.hxx"
177 #endif // ifndef __pinocchio_jacobian_hpp__