pinocchio Namespace Reference

Main pinocchio namespace. More...

Namespaces
	buildModels
	Build simple models.
	cholesky
	Cholesky decompositions.
	container
	Specialized containers.
	forceSet
	Group force actions.
	internal
	lua
	Lua parsing.
	motionSet
	Group motion actions.
	quaternion
	Quaternion operations.
	rpy
	Roll-pitch-yaw operations.
	srdf
	SRDF parsing.
	urdf
	URDF parsing.

Classes
struct	ABAChecker
struct	AlgorithmCheckerBase
	CRTP class describing the API of the checkers. More...
struct	AlgorithmCheckerList
	Checker having a list of Checker as input argument. More...
struct	apply_op_if
struct	apply_op_if< OP, true, default_return_value >
struct	BaumgarteCorrectorParametersTpl
struct	Blank
	Blank type. More...
struct	BroadPhaseManagerBase
class	BroadPhaseManagerPoolBase
struct	BroadPhaseManagerTpl
struct	CartesianAxis
struct	CartesianProductOperation
struct	CartesianProductOperationVariantTpl
	Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant. More...
struct	CastType
	Type of the cast of a class C templated by Scalar and Options, to a new NewScalar type. This class should be specialized for each types. More...
struct	CastType< NewScalar, JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	CastType< NewScalar, JointModelHelicalTpl< Scalar, Options, axis > >
struct	CastType< NewScalar, JointModelMimic< JointModel > >
struct	CastType< NewScalar, JointModelPrismaticTpl< Scalar, Options, axis > >
struct	CastType< NewScalar, JointModelRevoluteTpl< Scalar, Options, axis > >
struct	CastType< NewScalar, JointModelRevoluteUnboundedTpl< Scalar, Options, axis > >
struct	CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >
struct	CastType< NewScalar, ModelTpl< Scalar, Options, JointCollectionTpl > >
struct	CastType< NewScalar, RigidConstraintModelTpl< Scalar, Options > >
struct	check_expression_if_real_valued
struct	check_expression_if_real_valued< Scalar, default_value, true >
struct	CodeGenABA
struct	CodeGenABADerivatives
struct	CodeGenBase
struct	CodeGenConstraintDynamics
struct	CodeGenConstraintDynamicsDerivatives
struct	CodeGenCRBA
struct	CodeGenDDifference
struct	CodeGenDifference
struct	CodeGenIntegrate
struct	CodeGenMinv
struct	CodeGenRNEA
struct	CodeGenRNEADerivatives
struct	CollisionCallBackBase
	Interface for Pinocchio collision callback functors. More...
struct	CollisionCallBackDefault
struct	CollisionObject
struct	CollisionPair
struct	ComputeCollision
struct	ComputeDistance
struct	ConfigVectorAffineTransform
	Assign the correct configuration vector space affine transformation according to the joint type. More...
struct	ConfigVectorAffineTransform< JointRevoluteUnboundedTpl< Scalar, Options, axis > >
struct	ConstraintCollectionTpl
struct	ConstraintDataBase
struct	ConstraintDataComparisonOperatorVisitor
struct	ConstraintDataTpl
struct	ConstraintForceOp
	Return type of the Constraint::Transpose * Force operation. More...
struct	ConstraintForceOp< JointMotionSubspaceHelicalTpl< Scalar, Options, axis >, ForceDerived >
struct	ConstraintForceOp< JointMotionSubspaceHelicalUnalignedTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< JointMotionSubspacePrismaticTpl< Scalar, Options, axis >, ForceDerived >
struct	ConstraintForceOp< JointMotionSubspacePrismaticUnalignedTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< JointMotionSubspaceRevoluteTpl< Scalar, Options, axis >, ForceDerived >
struct	ConstraintForceOp< JointMotionSubspaceRevoluteUnalignedTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< JointMotionSubspaceUniversalTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< ScaledJointMotionSubspace< Constraint >, ForceDerived >
struct	ConstraintForceSetOp
	Return type of the Constraint::Transpose * ForceSet operation. More...
struct	ConstraintForceSetOp< JointMotionSubspaceHelicalTpl< Scalar, Options, axis >, ForceSet >
struct	ConstraintForceSetOp< JointMotionSubspaceHelicalUnalignedTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< JointMotionSubspacePrismaticTpl< Scalar, Options, axis >, ForceSet >
struct	ConstraintForceSetOp< JointMotionSubspacePrismaticUnalignedTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< JointMotionSubspaceRevoluteTpl< Scalar, Options, axis >, ForceSet >
struct	ConstraintForceSetOp< JointMotionSubspaceRevoluteUnalignedTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< JointMotionSubspaceUniversalTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< ScaledJointMotionSubspace< Constraint >, ForceSet >
struct	ConstraintModelBase
struct	ConstraintModelCalcVisitor
	ConstraintModelCalcVisitor fusion visitor.
struct	ConstraintModelCreateDataVisitor
	ConstraintModelCreateDataVisitor fusion visitor.
struct	ConstraintModelJacobianVisitor
	ConstraintModelJacobianVisitor fusion visitor.
struct	ConstraintModelTpl
struct	contact_dim
struct	contact_dim< CONTACT_3D >
struct	contact_dim< CONTACT_6D >
struct	ContactCholeskyDecompositionTpl
struct	ContactSolverBaseTpl
struct	CoulombFrictionConeTpl
	More...
struct	CRBAChecker
class	CsvStream
struct	DataTpl
struct	DelassusCholeskyExpressionTpl
struct	DelassusOperatorBase
struct	DelassusOperatorDenseTpl
struct	DelassusOperatorSparseTpl
struct	DualCoulombFrictionConeTpl
	More...
struct	eval_set_dim
struct	eval_set_dim< dim, Eigen::Dynamic >
struct	eval_set_dim< Eigen::Dynamic, dim >
class	ForceBase
	Base interface for forces representation. More...
class	ForceDense
class	ForceRef
class	ForceRef< const Vector6ArgType >
class	ForceSetTpl
class	ForceTpl
struct	FrameTpl
	A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...
struct	GeometryData
struct	GeometryModel
struct	GeometryNoMaterial
	No material associated to a geometry. More...
struct	GeometryObject
struct	GeometryObjectFilterBase
struct	GeometryObjectFilterNothing
struct	GeometryObjectFilterSelectByJoint
struct	GeometryPhongMaterial
class	GeometryPoolTpl
struct	InertiaBase
struct	InertiaTpl
struct	InstanceFilterBase
	Instance filter base class. More...
struct	is_floating_point
struct	is_floating_point< boost::multiprecision::number< Backend, ET > >
struct	Jlog3_impl
struct	Jlog6_impl
struct	JointCollectionDefaultTpl
struct	JointCompositeTpl
struct	JointDataBase
struct	JointDataCompositeTpl
struct	JointDataFreeFlyerTpl
struct	JointDataHelicalTpl
struct	JointDataHelicalUnalignedTpl
struct	JointDataMimic
struct	JointDataPlanarTpl
struct	JointDataPrismaticTpl
struct	JointDataPrismaticUnalignedTpl
struct	JointDataRevoluteTpl
struct	JointDataRevoluteUnalignedTpl
struct	JointDataRevoluteUnboundedTpl
struct	JointDataRevoluteUnboundedUnalignedTpl
struct	JointDataSphericalTpl
struct	JointDataSphericalZYXTpl
struct	JointDataTpl
struct	JointDataTranslationTpl
struct	JointDataUniversalTpl
struct	JointDataVoid
struct	JointFreeFlyerTpl
struct	JointHelicalTpl
struct	JointHelicalUnalignedTpl
struct	JointMimic
struct	JointModelBase
struct	JointModelCompositeTpl
struct	JointModelFreeFlyerTpl
struct	JointModelHelicalTpl
struct	JointModelHelicalUnalignedTpl
struct	JointModelMimic
struct	JointModelPlanarTpl
struct	JointModelPrismaticTpl
struct	JointModelPrismaticUnalignedTpl
struct	JointModelRevoluteTpl
struct	JointModelRevoluteUnalignedTpl
struct	JointModelRevoluteUnboundedTpl
struct	JointModelRevoluteUnboundedUnalignedTpl
struct	JointModelSphericalTpl
struct	JointModelSphericalZYXTpl
struct	JointModelTpl
struct	JointModelTranslationTpl
struct	JointModelUniversalTpl
struct	JointModelVoid
class	JointMotionSubspaceBase
struct	JointMotionSubspaceHelicalTpl
struct	JointMotionSubspaceHelicalUnalignedTpl
struct	JointMotionSubspaceIdentityTpl
struct	JointMotionSubspacePlanarTpl
struct	JointMotionSubspacePrismaticTpl
struct	JointMotionSubspacePrismaticUnalignedTpl
struct	JointMotionSubspaceRevoluteTpl
struct	JointMotionSubspaceRevoluteUnalignedTpl
struct	JointMotionSubspaceSphericalTpl
struct	JointMotionSubspaceSphericalZYXTpl
struct	JointMotionSubspaceTpl
struct	JointMotionSubspaceTranslationTpl
struct	JointMotionSubspaceTransposeBase
struct	JointMotionSubspaceUniversalTpl
struct	JointPlanarTpl
struct	JointPrismaticTpl
struct	JointPrismaticUnalignedTpl
struct	JointRevoluteTpl
struct	JointRevoluteUnalignedTpl
struct	JointRevoluteUnboundedTpl
struct	JointRevoluteUnboundedUnalignedTpl
struct	JointSphericalTpl
struct	JointSphericalZYXTpl
struct	JointTpl
struct	JointTranslationTpl
struct	JointUniversalTpl
struct	LanczosDecompositionTpl
	Compute the largest eigenvalues and the associated principle eigenvector via power iteration. More...
struct	LieGroup
struct	LieGroupBase
struct	LieGroupCollectionDefaultTpl
struct	LieGroupGenericTpl
struct	LieGroupMap
struct	LinearAffineTransform
	Linear affine transformation of the configuration vector. Valide for most common joints which are evolving on a vector space. More...
struct	log3_impl
struct	log6_impl
struct	MatrixMatrixProduct
struct	MatrixScalarProduct
struct	ModelItem
class	ModelPoolTpl
struct	ModelTpl
struct	MotionAlgebraAction
	Return type of the ation of a Motion onto an object of type D. More...
struct	MotionAlgebraAction< ForceDense< Derived >, MotionDerived >
struct	MotionAlgebraAction< ForceRef< Vector6ArgType >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceHelicalTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceHelicalUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceIdentityTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspacePlanarTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspacePrismaticTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspacePrismaticUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceRevoluteTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceSphericalTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceSphericalZYXTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceTpl< Dim, Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceTranslationTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< JointMotionSubspaceUniversalTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionDense< Derived >, MotionDerived >
struct	MotionAlgebraAction< MotionHelicalTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< MotionHelicalUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionPlanarTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionPrismaticTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< MotionPrismaticUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionRef< Vector6ArgType >, MotionDerived >
struct	MotionAlgebraAction< MotionRevoluteTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< MotionRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionSphericalTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionTranslationTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionZeroTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ScaledJointMotionSubspace< Constraint >, MotionDerived >
struct	MotionAlgebraAction< SpatialAxis< axis >, MotionDerived >
class	MotionBase
class	MotionDense
struct	MotionHelicalTpl
struct	MotionHelicalUnalignedTpl
struct	MotionPlanarTpl
struct	MotionPrismaticTpl
struct	MotionPrismaticUnalignedTpl
class	MotionRef
class	MotionRef< const Vector6ArgType >
struct	MotionRevoluteTpl
struct	MotionRevoluteUnalignedTpl
struct	MotionSphericalTpl
class	MotionTpl
struct	MotionTranslationTpl
struct	MotionZeroTpl
struct	MultiplicationOp
	Forward declaration of the multiplication operation return type. Should be overloaded, otherwise it will procude a compilation error. More...
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceHelicalTpl< S2, O2, axis > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceHelicalUnalignedTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspacePrismaticTpl< S2, O2, axis > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspacePrismaticUnalignedTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceRevoluteTpl< S2, O2, axis > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceRevoluteUnalignedTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, JointMotionSubspaceUniversalTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ScaledJointMotionSubspace< _Constraint > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceHelicalTpl< S2, O2, axis > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceHelicalUnalignedTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspacePrismaticTpl< S2, O2, axis > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspacePrismaticUnalignedTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceRevoluteTpl< S2, O2, axis > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceRevoluteUnalignedTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, JointMotionSubspaceUniversalTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ScaledJointMotionSubspace< _Constraint > >
struct	NumericalBase
struct	ParentChecker
	Simple model checker, that assert that model.parents is indeed a tree. More...
struct	PGSContactSolverTpl
	Projected Gauss Siedel solver. More...
struct	PowerIterationAlgoTpl
	Compute the largest eigenvalues and the associated principle eigenvector via power iteration. More...
struct	ProximalSettingsTpl
	Structure containing all the settings parameters for the proximal algorithms. More...
struct	ReachableSetParams
	Parameters for the reachable space algorithm. More...
struct	ReachableSetResults
	Structure containing the return value for the reachable algorithm. More...
struct	RigidConstraintDataTpl
struct	RigidConstraintModelTpl
struct	ScalarCast
	Cast scalar type from type FROM to type TO. More...
struct	ScalarCast< Scalar, CppAD::AD< ADScalar > >
struct	ScalarCast< Scalar, CppAD::cg::CG< Scalar > >
struct	ScalarMatrixProduct
struct	ScaledJointMotionSubspace
struct	SE3Base
	Base class for rigid transformation. More...
struct	SE3GroupAction
struct	SE3GroupAction< ForceDense< Derived > >
struct	SE3GroupAction< ForceRef< Vector6ArgType > >
struct	SE3GroupAction< ForceSet::Block >
struct	SE3GroupAction< JointMotionSubspaceHelicalTpl< Scalar, Options, axis > >
struct	SE3GroupAction< JointMotionSubspaceHelicalUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< JointMotionSubspaceIdentityTpl< S1, O1 > >
struct	SE3GroupAction< JointMotionSubspacePlanarTpl< S1, O1 > >
struct	SE3GroupAction< JointMotionSubspacePrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< JointMotionSubspacePrismaticUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< JointMotionSubspaceRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< JointMotionSubspaceRevoluteUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< JointMotionSubspaceSphericalTpl< S1, O1 > >
struct	SE3GroupAction< JointMotionSubspaceSphericalZYXTpl< S1, O1 > >
struct	SE3GroupAction< JointMotionSubspaceTpl< Dim, Scalar, Options > >
struct	SE3GroupAction< JointMotionSubspaceTranslationTpl< S1, O1 > >
struct	SE3GroupAction< JointMotionSubspaceUniversalTpl< Scalar, Options > >
struct	SE3GroupAction< MotionDense< Derived > >
struct	SE3GroupAction< MotionHelicalTpl< Scalar, Options, axis > >
struct	SE3GroupAction< MotionHelicalUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< MotionPlanarTpl< Scalar, Options > >
struct	SE3GroupAction< MotionPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< MotionPrismaticUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< MotionRef< Vector6ArgType > >
struct	SE3GroupAction< MotionRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< MotionRevoluteUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< MotionSphericalTpl< Scalar, Options > >
struct	SE3GroupAction< MotionTranslationTpl< Scalar, Options > >
struct	SE3GroupAction< MotionZeroTpl< Scalar, Options > >
struct	SE3GroupAction< ScaledJointMotionSubspace< Constraint > >
struct	SE3GroupAction< TransformHelicalTpl< Scalar, Options, axis > >
struct	SE3GroupAction< TransformPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< TransformRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< TransformTranslationTpl< Scalar, Options > >
struct	SE3Tpl
struct	Serialize
struct	Serialize< JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	Serialize< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	SINCOSAlgo
	Generic evaluation of sin/cos functions. More...
struct	SINCOSAlgo< boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< X_digits10, X_alloc >, X_et >, boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< S_digits10, S_alloc >, S_et >, boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< C_digits10, C_alloc >, C_et > >
struct	SINCOSAlgo< double >
	Specific evaluation of sin/cos for double type. More...
struct	SINCOSAlgo< float >
	Specific evaluation of sin/cos for float type. More...
struct	SINCOSAlgo< long double >
	Specific evaluation of sin/cos for long double. More...
struct	SizeDepType
struct	SizeDepType< Eigen::Dynamic >
struct	SpatialAxis
struct	SpecialEuclideanOperationTpl
struct	SpecialEuclideanOperationTpl< 2, _Scalar, _Options >
struct	SpecialEuclideanOperationTpl< 3, _Scalar, _Options >
	SE(3) More...
struct	SpecialOrthogonalOperationTpl
struct	SpecialOrthogonalOperationTpl< 2, _Scalar, _Options >
struct	SpecialOrthogonalOperationTpl< 3, _Scalar, _Options >
class	Symmetric3Tpl
struct	TaylorSeriesExpansion
	More...
struct	TaylorSeriesExpansion< CppAD::AD< Scalar > >
struct	TaylorSeriesExpansion< CppAD::cg::CG< Scalar > >
struct	TaylorSeriesExpansion<::casadi::Matrix< Scalar > >
struct	Tensor
class	Timer
struct	traits
	Common traits structure to fully define base classes for CRTP. More...
struct	traits< BaumgarteCorrectorParametersTpl< _Scalar > >
struct	traits< CartesianProductOperation< LieGroup1, LieGroup2 > >
struct	traits< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
struct	traits< ConstraintDataTpl< _Scalar, _Options, ConstraintCollectionTpl > >
struct	traits< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
struct	traits< DataTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< DelassusCholeskyExpressionTpl< ContactCholeskyDecomposition > >
struct	traits< DelassusOperatorDenseTpl< _Scalar, _Options > >
struct	traits< DelassusOperatorSparseTpl< _Scalar, _Options, _SparseCholeskyDecomposition > >
struct	traits< ForceRef< const Vector6ArgType > >
struct	traits< ForceRef< Vector6ArgType > >
struct	traits< ForceTpl< _Scalar, _Options > >
struct	traits< FrameTpl< _Scalar, _Options > >
struct	traits< GeometryData >
struct	traits< GeometryModel >
struct	traits< GeometryObject >
struct	traits< InertiaTpl< T, U > >
struct	traits< JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointDataFreeFlyerTpl< _Scalar, _Options > >
struct	traits< JointDataHelicalTpl< _Scalar, _Options, axis > >
struct	traits< JointDataHelicalUnalignedTpl< _Scalar, _Options > >
struct	traits< JointDataMimic< Joint > >
struct	traits< JointDataPlanarTpl< _Scalar, _Options > >
struct	traits< JointDataPrismaticTpl< _Scalar, _Options, axis > >
struct	traits< JointDataPrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< JointDataRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< JointDataRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< JointDataRevoluteUnboundedTpl< _Scalar, _Options, axis > >
struct	traits< JointDataRevoluteUnboundedUnalignedTpl< _Scalar, _Options > >
struct	traits< JointDataSphericalTpl< _Scalar, _Options > >
struct	traits< JointDataSphericalZYXTpl< _Scalar, _Options > >
struct	traits< JointDataTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointDataTranslationTpl< _Scalar, _Options > >
struct	traits< JointDataUniversalTpl< _Scalar, _Options > >
struct	traits< JointFreeFlyerTpl< _Scalar, _Options > >
struct	traits< JointHelicalTpl< _Scalar, _Options, axis > >
struct	traits< JointHelicalUnalignedTpl< _Scalar, _Options > >
struct	traits< JointMimic< Joint > >
struct	traits< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointModelFreeFlyerTpl< _Scalar, _Options > >
struct	traits< JointModelHelicalTpl< _Scalar, _Options, axis > >
struct	traits< JointModelHelicalUnalignedTpl< _Scalar, _Options > >
struct	traits< JointModelMimic< Joint > >
struct	traits< JointModelPlanarTpl< _Scalar, _Options > >
struct	traits< JointModelPrismaticTpl< _Scalar, _Options, axis > >
struct	traits< JointModelPrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< JointModelRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< JointModelRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< JointModelRevoluteUnboundedTpl< _Scalar, _Options, axis > >
struct	traits< JointModelRevoluteUnboundedUnalignedTpl< _Scalar, _Options > >
struct	traits< JointModelSphericalTpl< _Scalar, _Options > >
struct	traits< JointModelSphericalZYXTpl< _Scalar, _Options > >
struct	traits< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointModelTranslationTpl< _Scalar, _Options > >
struct	traits< JointModelUniversalTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspaceHelicalTpl< _Scalar, _Options, axis > >
struct	traits< JointMotionSubspaceHelicalUnalignedTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspaceIdentityTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspacePlanarTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspacePrismaticTpl< _Scalar, _Options, axis > >
struct	traits< JointMotionSubspacePrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspaceRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< JointMotionSubspaceRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspaceSphericalTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspaceTpl< _Dim, _Scalar, _Options > >
struct	traits< JointMotionSubspaceTranslationTpl< _Scalar, _Options > >
struct	traits< JointMotionSubspaceUniversalTpl< _Scalar, _Options > >
struct	traits< JointPlanarTpl< _Scalar, _Options > >
struct	traits< JointPrismaticTpl< _Scalar, _Options, axis > >
struct	traits< JointPrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< JointRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< JointRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< JointRevoluteUnboundedTpl< _Scalar, _Options, axis > >
struct	traits< JointRevoluteUnboundedUnalignedTpl< _Scalar, _Options > >
struct	traits< JointSphericalTpl< _Scalar, _Options > >
struct	traits< JointSphericalZYXTpl< _Scalar, _Options > >
struct	traits< JointTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointTranslationTpl< _Scalar, _Options > >
struct	traits< JointUniversalTpl< _Scalar, _Options > >
struct	traits< LieGroupGenericTpl< LieGroupCollection > >
struct	traits< ModelTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< MotionHelicalTpl< _Scalar, _Options, axis > >
struct	traits< MotionHelicalUnalignedTpl< _Scalar, _Options > >
struct	traits< MotionPlanarTpl< _Scalar, _Options > >
struct	traits< MotionPrismaticTpl< _Scalar, _Options, _axis > >
struct	traits< MotionPrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< MotionRef< const Vector6ArgType > >
struct	traits< MotionRef< Vector6ArgType > >
struct	traits< MotionRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< MotionRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< MotionSphericalTpl< _Scalar, _Options > >
struct	traits< MotionTpl< _Scalar, _Options > >
struct	traits< MotionTranslationTpl< _Scalar, _Options > >
struct	traits< MotionZeroTpl< _Scalar, _Options > >
struct	traits< RigidConstraintDataTpl< _Scalar, _Options > >
struct	traits< RigidConstraintModelTpl< _Scalar, _Options > >
struct	traits< ScaledJointMotionSubspace< Constraint > >
struct	traits< SE3Tpl< _Scalar, _Options > >
struct	traits< SpecialEuclideanOperationTpl< 2, _Scalar, _Options > >
struct	traits< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
struct	traits< SpecialEuclideanOperationTpl< Dim, Scalar, Options > >
struct	traits< SpecialOrthogonalOperationTpl< 2, _Scalar, _Options > >
struct	traits< SpecialOrthogonalOperationTpl< 3, _Scalar, _Options > >
struct	traits< SpecialOrthogonalOperationTpl< Dim, Scalar, Options > >
struct	traits< Symmetric3Tpl< _Scalar, _Options > >
struct	traits< TransformHelicalTpl< _Scalar, _Options, _axis > >
struct	traits< TransformPrismaticTpl< _Scalar, _Options, _axis > >
struct	traits< TransformRevoluteTpl< _Scalar, _Options, _axis > >
struct	traits< TransformTranslationTpl< _Scalar, _Options > >
struct	traits< TridiagonalSymmetricMatrixApplyOnTheLeftReturnType< MatrixDerived, TridiagonalSymmetricMatrix > >
struct	traits< TridiagonalSymmetricMatrixApplyOnTheRightReturnType< TridiagonalSymmetricMatrix, MatrixDerived > >
struct	traits< TridiagonalSymmetricMatrixInverse< TridiagonalSymmetricMatrix > >
struct	traits< TridiagonalSymmetricMatrixInverseApplyOnTheRightReturnType< TridiagonalSymmetricMatrixInverse, MatrixDerived > >
struct	traits< TridiagonalSymmetricMatrixTpl< _Scalar, _Options > >
struct	traits< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
struct	TransformHelicalTpl
struct	TransformPrismaticTpl
struct	TransformRevoluteTpl
struct	TransformTranslationTpl
struct	TransposeConstraintActionConstraint
struct	TreeBroadPhaseManagerTpl
struct	TridiagonalSymmetricMatrixApplyOnTheLeftReturnType
struct	TridiagonalSymmetricMatrixApplyOnTheRightReturnType
struct	TridiagonalSymmetricMatrixInverse
struct	TridiagonalSymmetricMatrixInverseApplyOnTheRightReturnType
struct	TridiagonalSymmetricMatrixTpl
	Dynamic size Tridiagonal symmetric matrix type This class is in practice used in Lanczos decomposition. More...
struct	UnboundedRevoluteAffineTransform
struct	VectorSpaceOperationTpl

Typedefs
typedef SpatialAxis< 0 >	AxisVX
typedef SpatialAxis< 1 >	AxisVY
typedef SpatialAxis< 2 >	AxisVZ
typedef SpatialAxis< 3 >	AxisWX
typedef SpatialAxis< 4 >	AxisWY
typedef SpatialAxis< 5 >	AxisWZ
typedef XAxis	AxisX
typedef YAxis	AxisY
typedef ZAxis	AxisZ
template<typename ManagerDerived , typename Scalar >
using	BroadPhaseManagerPool = BroadPhaseManagerPoolTpl< ManagerDerived, Scalar >
template<typename ManagerDerived , typename Scalar , int Options = 0, template< typename, int > class JointCollectionTpl = JointCollectionDefaultTpl>
using	BroadPhaseManagerPoolTpl = BroadPhaseManagerPoolBase< BroadPhaseManagerTpl< ManagerDerived >, Scalar, Options, JointCollectionTpl >
typedef CartesianProductOperationVariantTpl< context::Scalar, context::Options, LieGroupCollectionDefaultTpl >	CartesianProductOperationVariant
typedef ConstraintCollectionTpl< context::Scalar, context::Options >	ConstraintCollection
typedef ConstraintDataTpl< context::Scalar, context::Options, ConstraintCollectionTpl >	ConstraintData
typedef ConstraintModelTpl< context::Scalar, context::Options, ConstraintCollectionTpl >	ConstraintModel
typedef ContactCholeskyDecompositionTpl< context::Scalar, context::Options >	ContactCholeskyDecomposition
typedef CoulombFrictionConeTpl< context::Scalar >	CoulombFrictionCone
typedef DataTpl< context::Scalar, context::Options >	Data
typedef DelassusOperatorDenseTpl< context::Scalar, context::Options >	DelassusOperatorDense
typedef DelassusOperatorSparseTpl< context::Scalar, context::Options >	DelassusOperatorSparse
typedef DualCoulombFrictionConeTpl< context::Scalar >	DualCoulombFrictionCone
typedef ForceTpl< context::Scalar, context::Options >	Force
typedef ForceSetTpl< context::Scalar, context::Options >	ForceSet
typedef FrameTpl< context::Scalar, context::Options >	Frame
typedef Index	FrameIndex
typedef boost::variant< GeometryNoMaterial, GeometryPhongMaterial >	GeometryMaterial
typedef GeometryPoolTpl< context::Scalar >	GeometryPool
typedef Index	GeomIndex
typedef InertiaTpl< context::Scalar, context::Options >	Inertia
typedef JointTpl< context::Scalar >	Joint
typedef JointCollectionDefaultTpl< context::Scalar >	JointCollectionDefault
typedef JointDataTpl< context::Scalar >	JointData
typedef JointDataCompositeTpl< context::Scalar >	JointDataComposite
typedef JointDataFreeFlyerTpl< context::Scalar >	JointDataFreeFlyer
typedef JointDataHelicalUnalignedTpl< context::Scalar >	JointDataHelicalUnaligned
typedef JointDataHelicalTpl< context::Scalar, context::Options, 0 >	JointDataHX
typedef JointDataHelicalTpl< context::Scalar, context::Options, 1 >	JointDataHY
typedef JointDataHelicalTpl< context::Scalar, context::Options, 2 >	JointDataHZ
typedef JointDataPlanarTpl< context::Scalar >	JointDataPlanar
typedef JointDataPrismaticUnalignedTpl< context::Scalar >	JointDataPrismaticUnaligned
typedef JointDataPrismaticTpl< context::Scalar, context::Options, 0 >	JointDataPX
typedef JointDataPrismaticTpl< context::Scalar, context::Options, 1 >	JointDataPY
typedef JointDataPrismaticTpl< context::Scalar, context::Options, 2 >	JointDataPZ
typedef JointDataRevoluteUnalignedTpl< context::Scalar >	JointDataRevoluteUnaligned
typedef JointDataRevoluteUnboundedUnalignedTpl< context::Scalar >	JointDataRevoluteUnboundedUnaligned
typedef JointDataRevoluteUnboundedTpl< context::Scalar, context::Options, 0 >	JointDataRUBX
typedef JointDataRevoluteUnboundedTpl< context::Scalar, context::Options, 1 >	JointDataRUBY
typedef JointDataRevoluteUnboundedTpl< context::Scalar, context::Options, 2 >	JointDataRUBZ
typedef JointDataRevoluteTpl< context::Scalar, context::Options, 0 >	JointDataRX
typedef JointDataRevoluteTpl< context::Scalar, context::Options, 1 >	JointDataRY
typedef JointDataRevoluteTpl< context::Scalar, context::Options, 2 >	JointDataRZ
typedef JointDataSphericalTpl< context::Scalar >	JointDataSpherical
typedef JointDataSphericalZYXTpl< context::Scalar >	JointDataSphericalZYX
typedef JointDataTranslationTpl< context::Scalar >	JointDataTranslation
typedef JointDataUniversalTpl< context::Scalar >	JointDataUniversal
typedef JointCollectionDefault::JointDataVariant	JointDataVariant
typedef JointHelicalTpl< context::Scalar, context::Options, 0 >	JointHX
typedef JointHelicalTpl< context::Scalar, context::Options, 1 >	JointHY
typedef JointHelicalTpl< context::Scalar, context::Options, 2 >	JointHZ
typedef Index	JointIndex
typedef JointModelTpl< context::Scalar >	JointModel
typedef JointModelCompositeTpl< context::Scalar >	JointModelComposite
typedef JointModelFreeFlyerTpl< context::Scalar >	JointModelFreeFlyer
typedef JointModelHelicalUnalignedTpl< context::Scalar >	JointModelHelicalUnaligned
typedef JointModelHelicalTpl< context::Scalar, context::Options, 0 >	JointModelHX
typedef JointModelHelicalTpl< context::Scalar, context::Options, 1 >	JointModelHY
typedef JointModelHelicalTpl< context::Scalar, context::Options, 2 >	JointModelHZ
typedef JointModelPlanarTpl< context::Scalar >	JointModelPlanar
typedef JointModelPrismaticUnalignedTpl< context::Scalar >	JointModelPrismaticUnaligned
typedef JointModelPrismaticTpl< context::Scalar, context::Options, 0 >	JointModelPX
typedef JointModelPrismaticTpl< context::Scalar, context::Options, 1 >	JointModelPY
typedef JointModelPrismaticTpl< context::Scalar, context::Options, 2 >	JointModelPZ
typedef JointModelRevoluteUnalignedTpl< context::Scalar >	JointModelRevoluteUnaligned
typedef JointModelRevoluteUnboundedUnalignedTpl< context::Scalar >	JointModelRevoluteUnboundedUnaligned
typedef JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 0 >	JointModelRUBX
typedef JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 1 >	JointModelRUBY
typedef JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 2 >	JointModelRUBZ
typedef JointModelRevoluteTpl< context::Scalar, context::Options, 0 >	JointModelRX
typedef JointModelRevoluteTpl< context::Scalar, context::Options, 1 >	JointModelRY
typedef JointModelRevoluteTpl< context::Scalar, context::Options, 2 >	JointModelRZ
typedef JointModelSphericalTpl< context::Scalar >	JointModelSpherical
typedef JointModelSphericalZYXTpl< context::Scalar >	JointModelSphericalZYX
typedef JointModelTranslationTpl< context::Scalar >	JointModelTranslation
typedef JointModelUniversalTpl< context::Scalar >	JointModelUniversal
typedef JointCollectionDefault::JointModelVariant	JointModelVariant
typedef JointMotionSubspaceTpl< 1, context::Scalar, context::Options >	JointMotionSubspace1d
typedef JointMotionSubspaceTpl< 3, context::Scalar, context::Options >	JointMotionSubspace3d
typedef JointMotionSubspaceTpl< 6, context::Scalar, context::Options >	JointMotionSubspace6d
typedef JointMotionSubspaceTpl< Eigen::Dynamic, context::Scalar, context::Options >	JointMotionSubspaceXd
typedef JointPrismaticTpl< context::Scalar, context::Options, 0 >	JointPX
typedef JointPrismaticTpl< context::Scalar, context::Options, 1 >	JointPY
typedef JointPrismaticTpl< context::Scalar, context::Options, 2 >	JointPZ
typedef JointRevoluteUnboundedTpl< context::Scalar, context::Options, 0 >	JointRUBX
typedef JointRevoluteUnboundedTpl< context::Scalar, context::Options, 1 >	JointRUBY
typedef JointRevoluteUnboundedTpl< context::Scalar, context::Options, 2 >	JointRUBZ
typedef JointRevoluteTpl< context::Scalar, context::Options, 0 >	JointRX
typedef JointRevoluteTpl< context::Scalar, context::Options, 1 >	JointRY
typedef JointRevoluteTpl< context::Scalar, context::Options, 2 >	JointRZ
typedef LieGroupCollectionDefaultTpl< context::Scalar >	LieGroupCollectionDefault
typedef ModelTpl< context::Scalar, context::Options >	Model
typedef ModelPoolTpl< context::Scalar >	ModelPool
typedef MotionTpl<::CppAD::AD< double >, 0 >	Motion
typedef MotionPlanarTpl< context::Scalar >	MotionPlanar
typedef MotionPrismaticUnalignedTpl< context::Scalar >	MotionPrismaticUnaligned
typedef MotionRevoluteUnalignedTpl< context::Scalar >	MotionRevoluteUnaligned
typedef MotionSphericalTpl< context::Scalar >	MotionSpherical
typedef MotionTranslationTpl< context::Scalar >	MotionTranslation
typedef MotionZeroTpl< context::Scalar, context::Options >	MotionZero
typedef Index	PairIndex
typedef ProximalSettingsTpl< context::Scalar >	ProximalSettings
typedef RigidConstraintDataTpl< context::Scalar, context::Options >	RigidConstraintData
typedef RigidConstraintModelTpl< context::Scalar, context::Options >	RigidConstraintModel
typedef SE3Tpl< context::Scalar, context::Options >	SE3
typedef Symmetric3Tpl< context::Scalar, context::Options >	Symmetric3
template<typename ManagerDerived , typename Scalar >
using	TreeBroadPhaseManagerPool = TreeBroadPhaseManagerPoolTpl< ManagerDerived, Scalar >
template<typename ManagerDerived , typename Scalar , int Options = 0, template< typename, int > class JointCollectionTpl = JointCollectionDefaultTpl>
using	TreeBroadPhaseManagerPoolTpl = BroadPhaseManagerPoolBase< TreeBroadPhaseManagerTpl< ManagerDerived >, Scalar, Options, JointCollectionTpl >
typedef Eigen::Matrix< bool, Eigen::Dynamic, 1 >	VectorXb
typedef CartesianAxis< 0 >	XAxis
typedef CartesianAxis< 1 >	YAxis
typedef CartesianAxis< 2 >	ZAxis

Enumerations
enum	{ SELF = 0 }
enum	{ MAX_JOINT_NV = 6 }
enum	ArgumentPosition {   ARG0 = 0 , ARG1 = 1 , ARG2 = 2 , ARG3 = 3 ,   ARG4 = 4 }
	Argument position. Used as template parameter to refer to an argument.
enum	AssignmentOperatorType { SETTO , ADDTO , RMTO }
enum	ContactType { CONTACT_3D = 0 , CONTACT_6D , CONTACT_UNDEFINED }
	More...
enum class	Convention { WORLD = 0 , LOCAL = 1 }
	List of convention to call algorithms. More...
enum	FrameType {   OP_FRAME = 0x1 << 0 , JOINT = 0x1 << 1 , FIXED_JOINT = 0x1 << 2 , BODY ,   SENSOR = 0x1 << 4 }
	Enum on the possible types of frames. More...
enum	GeometryType { VISUAL , COLLISION }
enum	KinematicLevel { POSITION = 0 , VELOCITY = 1 , ACCELERATION = 2 }
	List of Kinematics Level supported by Pinocchio. More...
enum	ModelFileExtensionType { UNKNOWN = 0 , URDF }
	Supported model file extensions.
enum	ReferenceFrame { WORLD = 0 , LOCAL = 1 , LOCAL_WORLD_ALIGNED = 2 }
	Various conventions to express the velocity of a moving frame. More...

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >
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 container::aligned_vector< ForceDerived > &fext, const Convention rf=Convention::LOCAL)
	The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model and the external forces. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
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 the current state and actuation of the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 >
void	abaInParallel (const size_t num_threads, ModelPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< TangentVectorPool1 > &v, const Eigen::MatrixBase< TangentVectorPool2 > &tau, const Eigen::MatrixBase< TangentVectorPool3 > &a)
	A parallel version of the Articulated Body algorithm. It computes the forward dynamics, aka the joint acceleration according to the current state of the system and the desired joint torque. More...
template<typename Vector3Like , typename Matrix3Like >
void	addSkew (const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like > &M)
	Add skew matrix represented by a 3d vector to a given matrix, i.e. add the antisymmetric matrix representation of the cross product operator ( \( [v]_{\times} x = v \times x \)) More...
template<typename Scalar , typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3 ::Options >	alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( \( [\alpha v]_{\times} x = \alpha v \times x \)) More...
template<typename Scalar , typename Vector3 , typename Matrix3 >
void	alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( \( [\alpha v]_{\times} x = \alpha v \times x \)) More...
void	appendGeometryModel (GeometryModel &geom_model1, const GeometryModel &geom_model2)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl >	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb)
	Append a child model into a parent model, after a specific frame given by its index. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Append a child model into a parent model, after a specific frame given by its index. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const GeometryModel &geomModelA, const GeometryModel &geomModelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel)
	Append a child model into a parent model, after a specific frame given by its index. More...
PINOCCHIO_PARSERS_DLLAPI void	appendSuffixToPaths (std::vector< std::string > &list_of_paths, const std::string &suffix)
	For a given vector of paths, add a suffix inplace to each path and return the vector inplace. More...
template<int axis>
char	axisLabel ()
	Generate the label (X, Y or Z) of the axis relative to its index. More...
template<>
char	axisLabel< 0 > ()
template<>
char	axisLabel< 1 > ()
template<>
char	axisLabel< 2 > ()
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
MotionTpl< Scalar, Options >	bias (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion. More...
template<typename MotionVelocity , typename MotionAcceleration >
Eigen::Matrix< typename MotionVelocity::Scalar, 6, 10, typename MotionVelocity::Vector3 ::Options >	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a)
	Computes the regressor for the dynamic parameters of a single rigid body. More...
template<typename MotionVelocity , typename MotionAcceleration , typename OutputType >
void	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > &regressor)
	Computes the regressor for the dynamic parameters of a single rigid body. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model, GeometryModel &reduced_geom_model)
	Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename GeometryModelAllocator , typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< GeometryModel, GeometryModelAllocator > &list_of_geom_models, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model, std::vector< GeometryModel, GeometryModelAllocator > &list_of_reduced_geom_models)
	Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
ModelTpl< Scalar, Options, JointCollectionTpl >	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)
	Build a reduced model from a given input model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model)
	Build a reduced model from a given input model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, template< typename S, int O > class ConstraintCollectionTpl>
void	calc (const ConstraintModelTpl< Scalar, Options, ConstraintCollectionTpl > &cmodel, ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > &cdata, const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename VectorLike , typename Matrix6Type >
void	calc_aba (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename TangentVectorType >
void	calc_first_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Blank blank, const Eigen::MatrixBase< TangentVectorType > &v)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	calc_first_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType >
void	calc_zero_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero. More...
template<typename NewScalar , typename Scalar >
NewScalar	cast (const Scalar &value)
template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type	cast_joint (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...> More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	ccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta according to the current joint configuration and velocity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool computeSubtreeComs=true)
	Computes the center of mass position of a given model according to a particular joint configuration. The result is accessible through data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const bool computeSubtreeComs=true)
	Computes the center of mass position and velocity of a given model according to a particular joint configuration and velocity. The result is accessible through data.com[0], data.vcom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (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 > &a, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration. The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation. And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, KinematicLevel kinematic_level, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data and the requested kinematic_level. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, typename ForceIn >
ForceIn::ForcePlain	changeReferenceFrame (const SE3Tpl< Scalar, Options > &placement, const ForceDense< ForceIn > &f_in, const ReferenceFrame rf_in, const ReferenceFrame rf_out)
template<typename Scalar , int Options, typename ForceIn , typename ForceOut >
void	changeReferenceFrame (const SE3Tpl< Scalar, Options > &placement, const ForceDense< ForceIn > &f_in, const ReferenceFrame rf_in, const ReferenceFrame rf_out, ForceDense< ForceOut > &f_out)
template<typename Scalar , int Options, typename MotionIn >
MotionIn::MotionPlain	changeReferenceFrame (const SE3Tpl< Scalar, Options > &placement, const MotionDense< MotionIn > &m_in, const ReferenceFrame rf_in, const ReferenceFrame rf_out)
template<typename Scalar , int Options, typename MotionIn , typename MotionOut >
void	changeReferenceFrame (const SE3Tpl< Scalar, Options > &placement, const MotionDense< MotionIn > &m_in, const ReferenceFrame rf_in, const ReferenceFrame rf_out, MotionDense< MotionOut > &m_out)
template<typename Scalar , typename Any >
bool	check_expression_if_real (const Any &expression)
template<typename Scalar , bool default_value, typename Any >
bool	check_expression_if_real (const Any &expression)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
bool	checkData (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data)
ModelFileExtensionType	checkModelFileExtension (const std::string &filename)
	Extract the type of the given model file according to its extension. More...
bool	checkVersionAtLeast (unsigned int major_version, unsigned int minor_version, unsigned int patch_version)
	Checks if the current version of Pinocchio is at least the version provided by the input arguments. More...
template<typename Motion1 , typename Motion2 >
Motion2::Vector3	classicAcceleration (const MotionDense< Motion1 > &spatial_velocity, const MotionDense< Motion2 > &spatial_acceleration)
	Computes the classic acceleration from a given spatial velocity and spatial acceleration. More...
template<typename Motion1 , typename Motion2 , typename Vector3Like >
void	classicAcceleration (const MotionDense< Motion1 > &spatial_velocity, const MotionDense< Motion2 > &spatial_acceleration, const Eigen::MatrixBase< Vector3Like > &res)
	Computes the classic acceleration from a given spatial velocity and spatial acceleration. More...
template<typename Motion1 , typename Motion2 , typename SE3Scalar , int SE3Options>
Motion2::Vector3	classicAcceleration (const MotionDense< Motion1 > &spatial_velocity, const MotionDense< Motion2 > &spatial_acceleration, const SE3Tpl< SE3Scalar, SE3Options > &placement)
	Computes the classic acceleration of a given frame B knowing the spatial velocity and spatial acceleration of a frame A and the relative placement between these two frames. More...
template<typename Motion1 , typename Motion2 , typename SE3Scalar , int SE3Options, typename Vector3Like >
void	classicAcceleration (const MotionDense< Motion1 > &spatial_velocity, const MotionDense< Motion2 > &spatial_acceleration, const SE3Tpl< SE3Scalar, SE3Options > &placement, const Eigen::MatrixBase< Vector3Like > &res)
	Computes the classic acceleration of a given frame B knowing the spatial velocity and spatial acceleration of a frame A and the relative placement between these two frames. More...
template<typename T >
bool	compare_shared_ptr (const std::shared_ptr< T > &ptr1, const std::shared_ptr< T > &ptr2)
	Compares two std::shared_ptr.
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	The derivatives of the Articulated-Body algorithm. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext)
	The derivatives of the Articulated-Body algorithm with external forces. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm with external forces. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
std::enable_if< ConfigVectorType::IsVectorAtCompileTime||TangentVectorType1::IsVectorAtCompileTime||TangentVectorType2::IsVectorAtCompileTime, void >::type	computeABADerivatives (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)
	The derivatives of the Articulated-Body algorithm. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeABADerivatives (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< ForceTpl< Scalar, Options >> &fext)
	The derivatives of the Articulated-Body algorithm with external forces. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeABADerivatives (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< ForceTpl< Scalar, Options >> &fext, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm with external forces. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeABADerivatives (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 Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
std::enable_if< !(MatrixType1::IsVectorAtCompileTime||MatrixType2::IsVectorAtCompileTime||MatrixType3::IsVectorAtCompileTime), void >::type	computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	computeAllTerms (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes efficiently all the terms needed for dynamic simulation. It is equivalent to the call at the same time to: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeBodyRadius (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, GeometryData &geom_data)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >
void	computeCentroidalDynamicsDerivatives (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 > &a, const Eigen::MatrixBase< Matrix6xLike0 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
	Computes the analytical derivatives of the centroidal dynamics with respect to the joint configuration vector, velocity and acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMap (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the Centroidal Momentum Matrix. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMapTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal Momentum Matrix time derivative. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentumTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentumTimeVariation (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 > &a)
	Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...
bool	computeCollision (const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
	Compute the collision status between a SINGLE collision pair. The result is store in the collisionResults vector. More...
bool	computeCollision (const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id, fcl::CollisionRequest &collision_request)
	Compute the collision status between a SINGLE collision pair. The result is store in the collisionResults vector. More...
template<typename BroadPhaseManagerDerived >
bool	computeCollisions (BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, CollisionCallBackBase *callback)
	Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements and broadphase_manager.update() have been called first. More...
template<typename BroadPhaseManagerDerived >
bool	computeCollisions (BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, const bool stopAtFirstCollision=false)
	Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements and broadphase_manager.update() have been called first. More...
bool	computeCollisions (const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false)
	Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements has been called first. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename BroadPhaseManagerDerived , typename ConfigVectorType >
bool	computeCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, CollisionCallBackBase *callback, const Eigen::MatrixBase< ConfigVectorType > &q)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename BroadPhaseManagerDerived , typename ConfigVectorType >
bool	computeCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, BroadPhaseManagerBase< BroadPhaseManagerDerived > &broadphase_manager, const Eigen::MatrixBase< ConfigVectorType > &q, const bool stopAtFirstCollision=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	computeCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool stopAtFirstCollision=false)
template<typename BroadPhaseManagerDerived , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename CollisionVectorResult >
void	computeCollisionsInParallel (const size_t num_threads, BroadPhaseManagerPoolBase< BroadPhaseManagerDerived, Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< CollisionVectorResult > &res, const bool stopAtFirstCollisionInConfiguration=false, const bool stopAtFirstCollisionInBatch=false)
template<typename BroadPhaseManagerDerived , typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeCollisionsInParallel (const size_t num_threads, BroadPhaseManagerPoolBase< BroadPhaseManagerDerived, Scalar, Options, JointCollectionTpl > &pool, const std::vector< Eigen::MatrixXd > &trajectories, std::vector< VectorXb > &res, const bool stopAtFirstCollisionInTrajectory=false)
	Evaluate the collision over a set of trajectories and return whether a trajectory contains a collision.
bool	computeCollisionsInParallel (const size_t num_threads, const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	computeCollisionsInParallel (const size_t num_threads, const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool stopAtFirstCollision=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename CollisionVectorResult >
void	computeCollisionsInParallel (const size_t num_threads, GeometryPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< CollisionVectorResult > &res, const bool stopAtFirstCollisionInConfiguration=false, const bool stopAtFirstCollisionInBatch=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator >
void	computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 , typename MatrixType4 , typename MatrixType5 , typename MatrixType6 >
void	computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType1 > &ddq_partial_dq, const Eigen::MatrixBase< MatrixType2 > &ddq_partial_dv, const Eigen::MatrixBase< MatrixType3 > &ddq_partial_dtau, const Eigen::MatrixBase< MatrixType4 > &lambda_partial_dq, const Eigen::MatrixBase< MatrixType5 > &lambda_partial_dv, const Eigen::MatrixBase< MatrixType6 > &lambda_partial_dtau)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator >
void	computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const ProximalSettingsTpl< Scalar > &settings)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 , typename MatrixType4 , typename MatrixType5 , typename MatrixType6 >
void	computeConstraintDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const ProximalSettingsTpl< Scalar > &settings, const Eigen::MatrixBase< MatrixType1 > &ddq_partial_dq, const Eigen::MatrixBase< MatrixType2 > &ddq_partial_dv, const Eigen::MatrixBase< MatrixType3 > &ddq_partial_dtau, const Eigen::MatrixBase< MatrixType4 > &lambda_partial_dq, const Eigen::MatrixBase< MatrixType5 > &lambda_partial_dv, const Eigen::MatrixBase< MatrixType6 > &lambda_partial_dtau)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename VectorLikeC , class ConstraintModelAllocator , class ConstraintDataAllocator , class CoulombFrictionConelAllocator , typename VectorLikeR , typename VectorLikeGamma , typename VectorLikeImp >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	computeContactImpulses (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< VectorLikeC > &c_ref, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas, const std::vector< CoulombFrictionConeTpl< Scalar >, CoulombFrictionConelAllocator > &cones, const Eigen::MatrixBase< VectorLikeR > &R, const Eigen::MatrixBase< VectorLikeGamma > &constraint_correction, ProximalSettingsTpl< Scalar > &settings, const boost::optional< VectorLikeImp > &impulse_guess=boost::none)
	Compute the contact impulses given a target velocity of contact points. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	computeCoriolisMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Coriolis Matrix \( C(q,\dot{q}) \) of the Lagrangian dynamics: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , class ModelAllocator , class DataAllocator , typename MatrixType >
void	computeDampedDelassusMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &damped_delassus_inverse, const Scalar mu, const bool scaled=false, const bool Pv=true)
	Computes the inverse of the Delassus matrix associated to a set of given constraints. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , class ModelAllocator , class DataAllocator , typename MatrixType >
void	computeDelassusMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data, const Eigen::MatrixBase< MatrixType > &delassus, const Scalar mu=0)
	Computes the Delassus matrix associated to a set of given constraints. More...
fcl::DistanceResult &	computeDistance (const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
	Compute the minimal distance between collision objects of a SINGLE collison pair. More...
std::size_t	computeDistances (const GeometryModel &geom_model, GeometryData &geom_data)
	Compute the minimal distance between collision objects of a ALL collison pair. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
std::size_t	computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
std::size_t	computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeForwardKinematicsDerivatives (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 > &a)
	Computes all the terms required to compute the derivatives of the placement, spatial velocity and acceleration for any joint of the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J)
	Computes the Jacobian of a specific Frame expressed in the LOCAL frame coordinate system. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J)
	Computes the Jacobian of a specific Frame expressed in the desired reference_frame given as argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeFrameKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeFrameKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	computeGeneralizedGravity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the generalized gravity contribution \( g(q) \) of the Lagrangian dynamics: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >
void	computeGeneralizedGravityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ReturnMatrixType > &gravity_partial_dq)
	Computes the partial derivative of the generalized gravity contribution with respect to the joint configuration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator >
void	computeImpulseDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const Scalar r_coeff, const ProximalSettingsTpl< Scalar > &settings)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class ConstraintModelAllocator , class ConstraintDataAllocator , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 , typename MatrixType4 >
void	computeImpulseDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_data, const Scalar r_coeff, const ProximalSettingsTpl< Scalar > &settings, const Eigen::MatrixBase< MatrixType1 > &dvimpulse_partial_dq, const Eigen::MatrixBase< MatrixType2 > &dvimpulse_partial_dv, const Eigen::MatrixBase< MatrixType3 > &impulse_partial_dq, const Eigen::MatrixBase< MatrixType4 > &impulse_partial_dv)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6Like >
void	computeJointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex joint_id, const Eigen::MatrixBase< Matrix6Like > &J)
	Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store the result in the input argument J. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function assumes that pinocchio::forwardKinematics has been called before. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function computes also the forwardKinematics of the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobiansTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depends both on q and v. The result is accessible through data.dJ. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See computeJointJacobians for such a function. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement)
	Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	computeJointTorqueRegressor (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 > &a)
	Computes the joint torque regressor that links the joint torque to the dynamic parameters of each link according to the current the robot motion. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
Scalar	computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ConstraintMatrixType , typename KKTMatrixType >
void	computeKKTContactDynamicMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv, const Scalar &inv_damping=0.)
	Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix: More...
template<typename MatrixLike , typename VectorLike >
void	computeLargestEigenvector (const MatrixLike &mat, const Eigen::PlainObjectBase< VectorLike > &_eigenvector_est, const int max_it=10, const typename MatrixLike::Scalar rel_tol=1e-8)
	Compute the lagest eigenvector of a given matrix according to a given eigenvector estimate. More...
template<typename MatrixLike >
Eigen::Matrix< typename MatrixLike::Scalar, MatrixLike::RowsAtCompileTime, 1 >	computeLargestEigenvector (const MatrixLike &mat, const int max_it=10, const typename MatrixLike::Scalar rel_tol=1e-8)
	Compute the lagest eigenvector of a given matrix. More...
template<typename MatrixLike >
Eigen::Matrix< typename MatrixLike::Scalar, MatrixLike::RowsAtCompileTime, 1 >	computeLowestEigenvector (const MatrixLike &mat, const bool compute_largest=true, const int max_it=10, const typename MatrixLike::Scalar rel_tol=1e-8)
	Compute the lagest eigenvector of a given matrix. More...
template<typename MatrixLike , typename VectorLike1 , typename VectorLike2 >
void	computeLowestEigenvector (const MatrixLike &mat, const Eigen::PlainObjectBase< VectorLike1 > &largest_eigenvector_est, const Eigen::PlainObjectBase< VectorLike2 > &lowest_eigenvector_est, const bool compute_largest=true, const int max_it=10, const typename MatrixLike::Scalar rel_tol=1e-8)
	Compute the lagest eigenvector of a given matrix according to a given eigenvector estimate. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeMechanicalEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the mechanical energy of the system stored in data.mechanical_energy. The result is accessible through data.kinetic_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
Scalar	computeMechanicalEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the mechanical energy of the system stored in data.mechanical_energy. The result is accessible through data.kinetic_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs &	computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the inverse of the joint space inertia matrix using Articulated Body formulation. Compared to the complete signature computeMinverse<Scalar,Options,ConfigVectorType>, this version assumes that ABA has been called first. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
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. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
Scalar	computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::RowVectorXs &	computePotentialEnergyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeRNEADerivatives (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 > &a)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeRNEADerivatives (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 > &a, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeRNEADerivatives (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 > &a, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext, const Eigen::MatrixBase< MatrixType1 > &rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &rnea_partial_da)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeRNEADerivatives (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 > &a, const Eigen::MatrixBase< MatrixType1 > &rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &rnea_partial_da)
	Computes the partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	ComputeRNEASecondOrderDerivatives (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 > &a)
	Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename Tensor1 , typename Tensor2 , typename Tensor3 , typename Tensor4 >
void	ComputeRNEASecondOrderDerivatives (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 > &a, const Tensor1 &d2tau_dqdq, const Tensor2 &d2tau_dvdv, const Tensor3 &dtau_dqdv, const Tensor4 &dtau_dadq)
	Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithm w.r.t the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	computeStaticRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	computeStaticTorque (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext)
	Computes the generalized static torque contribution \( g(q) - \sum J(q)^{\top} f_{\text{ext}} \) of the Lagrangian dynamics: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >
void	computeStaticTorqueDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options >> &fext, const Eigen::MatrixBase< ReturnMatrixType > &static_torque_partial_dq)
	Computes the partial derivative of the generalized gravity and external forces contributions (a.k.a static torque vector) with respect to the joint configuration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeSubtreeMasses (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Compute the mass of each kinematic subtree and store it in data.mass. The element mass[0] corresponds to the total mass of the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ForceTpl< Scalar, Options >	computeSupportedForceByFrame (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id)
	Computes the force supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The supported force corresponds to the sum of all the forces experienced after the given frame, i.e : More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
InertiaTpl< Scalar, Options >	computeSupportedInertiaByFrame (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, bool with_subtree)
	Compute the inertia supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The total supported inertia corresponds to the sum of all the inertia after the given frame, i.e : More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Compute the total mass of the model and return it. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Compute the total mass of the model, put it in data.mass[0] and return it. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ContactModelAllocator , class ContactDataAllocator >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	constrainedABA (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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ContactModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ContactDataAllocator > &contact_datas, ProximalSettingsTpl< Scalar > &settings)
	The constrained Articulated Body Algorithm (constrainedABA). It computes constrained forward dynamics, aka the joint accelerations and constraint forces given the current state, actuation and the constraints on the system. All the quantities are expressed in the LOCAL coordinate systems of the joint frames. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ConstraintModelAllocator , class ConstraintDataAllocator >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	constraintDynamics (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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas)
	Computes the forward dynamics with contact constraints according to a given list of Contact information. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ConstraintModelAllocator , class ConstraintDataAllocator >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	constraintDynamics (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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas, ProximalSettingsTpl< Scalar > &settings)
	Computes the forward dynamics with contact constraints according to a given list of contact information. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ModelAllocator , class DataAllocator >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	contactABA (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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &contact_data)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ConstraintModelAllocator , class ConstraintDataAllocator , class CoulombFrictionConelAllocator , typename VectorLikeR , typename VectorLikeGamma , typename VectorLikeLam >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	contactInverseDynamics (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 > &a, Scalar dt, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas, const std::vector< CoulombFrictionConeTpl< Scalar >, CoulombFrictionConelAllocator > &cones, const Eigen::MatrixBase< VectorLikeR > &R, const Eigen::MatrixBase< VectorLikeGamma > &constraint_correction, ProximalSettingsTpl< Scalar > &settings, const boost::optional< VectorLikeLam > &lambda_guess=boost::none)
	The Contact Inverse Dynamics algorithm. It computes the inverse dynamics in the presence of contacts, aka the joint torques according to the current state of the system and the desired joint accelerations. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	copy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &origin, DataTpl< Scalar, Options, JointCollectionTpl > &dest, KinematicLevel kinematic_level)
	Copy part of the data from origin to dest. Template parameter can be used to select at which differential level the copy should occur. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	crba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Convention convention=Convention::LOCAL)
	Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M. More...
template<typename Scalar , int Options, template< typename S, int O > class ConstraintCollectionTpl>
ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl >	createData (const ConstraintModelTpl< Scalar, Options, ConstraintCollectionTpl > &cmodel)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointDataTpl< Scalar, Options, JointCollectionTpl >	createData (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through CreateData visitor to create a JointDataTpl. More...
template<typename Vector3 , typename Matrix3x >
Matrix3x	cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3x > &M)
	Applies the cross product onto the columns of M. More...
template<typename Vector3 , typename Matrix3xIn , typename Matrix3xOut >
void	cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3xIn > &Min, const Eigen::MatrixBase< Matrix3xOut > &Mout)
	Applies the cross product onto the columns of M. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	dccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration and velocity vectors. More...
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
void	dDifference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg)
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void	dDifference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg)
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
void	dDifference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg)
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class Tangent_t >
void	difference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, int self, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrateTransport (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrateTransport (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	dinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition. More...
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
ConfigL_t::Scalar	distance (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options >	exp3 (const Eigen::MatrixBase< Vector3Like > &v)
	Exp: so3 -> SO3. More...
template<typename Vector6Like >
SE3Tpl< typename Vector6Like::Scalar, Vector6Like ::Options >	exp6 (const Eigen::MatrixBase< Vector6Like > &v)
	Exp: se3 -> SE3. More...
template<typename MotionDerived >
SE3Tpl< typename MotionDerived::Scalar, typename MotionDerived::Vector3 ::Options >	exp6 (const MotionDense< MotionDerived > &nu)
	Exp: se3 -> SE3. More...
PINOCCHIO_PARSERS_DLLAPI std::vector< std::string >	extractPathFromEnvVar (const std::string &env_var_name, const std::string &delimiter=":")
	Parse an environment variable if exists and extract paths according to the delimiter. More...
PINOCCHIO_PARSERS_DLLAPI void	extractPathFromEnvVar (const std::string &env_var_name, std::vector< std::string > &list_of_paths, const std::string &delimiter=":")
	Parse an environment variable if exists and extract paths according to the delimiter. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
JointIndex	findCommonAncestor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, JointIndex joint1_id, JointIndex joint2_id, size_t &index_ancestor_in_support1, size_t &index_ancestor_in_support2)
	Computes the common ancestor between two joints belonging to the same kinematic tree. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ConstraintMatrixType , typename DriftVectorType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	forwardDynamics (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 Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
	Compute the forward dynamics with contact constraints. Internally, pinocchio::computeAllTerms is called. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename TangentVectorType , typename ConstraintMatrixType , typename DriftVectorType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	forwardDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
	Compute the forward dynamics with contact constraints, assuming pinocchio::computeAllTerms has been called. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Update the joint placements according to the current joint configuration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Update the joint placements and spatial velocities according to the current joint configuration and velocity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	forwardKinematics (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 > &a)
	Update the joint placements, spatial velocities and spatial accelerations according to the current joint configuration, velocity and acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType &	frameBodyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex frame_id)
	Computes the regressor for the dynamic parameters of a rigid body attached to a given frame, puts the result in data.bodyRegressor and returns it. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	First calls the forwardKinematics on the model, then computes the placement of each frame. /sa pinocchio::forwardKinematics. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the spatial acceleration of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut >
void	getCenterOfMassVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)
	Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration q. You must first call computeAllTerms(model,data,q,v) or computeCenterOfMass(model,data,q,v) before calling this function. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >
void	getCentroidalDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix6xLike1 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
	Retrive the analytical derivatives of the centroidal dynamics from the RNEA derivatives. pinocchio::computeRNEADerivatives should have been called first. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the "classical" acceleration of the joint expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	getComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6Like >
void	getConstraintJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const RigidConstraintModelTpl< Scalar, Options > &constraint_model, RigidConstraintDataTpl< Scalar, Options > &constraint_data, const Eigen::MatrixBase< Matrix6Like > &J)
	Computes the kinematic Jacobian associatied to a given constraint model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename DynamicMatrixLike , class ConstraintModelAllocator , class ConstraintDataAllocator >
void	getConstraintsJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintDataAllocator > &constraint_model, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &constraint_data, const Eigen::MatrixBase< DynamicMatrixLike > &J)
	Computes the kinematic Jacobian associatied to a given set of constraint models. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	getCoriolisMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Retrives the Coriolis Matrix \( C(q,\dot{q}) \) of the Lagrangian dynamics: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in the data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf=LOCAL)
	Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
	Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da)
	Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
	Computes the partial derivatives of the spatial acceleration of a frame given by its relative placement, with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da)
	Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf=LOCAL)
	Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame reference_frame)
	Returns the jacobian of the frame expressed either expressed in the local frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike >
void	getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J)
	Returns the jacobian of the frame expressed either expressed in the local frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame reference_frame)
	Returns the jacobian of the frame given by its relative placement w.r.t. a joint frame, and whose columns are either expressed in the LOCAL frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike >
void	getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J)
	Returns the jacobian of the frame given by its relative placement w.r.t. a joint frame, and whose columns are either expressed in the LOCAL frame coordinate system, in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike >
void	getFrameJacobianTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &dJ)
	Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the WORLD frame (rf = WORLD), in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the LOCAL frame (rf = LOCAL). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf=LOCAL)
	Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >
void	getFrameVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv)
	Computes the partial derivatives of the spatial velocity of a frame given by its relative placement, with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >
void	getFrameVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv)
	Computes the partial derivatives of the frame spatial velocity with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	getJacobianComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Extracts both the jacobian of the center of mass (CoM), the total mass of the system and the CoM position from the joint space inertia matrix (also called the mass matrix). The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both expressed in the world frame. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >
void	getJacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Retrieves the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that pinocchio::jacobianCenterOfMass has been called first with computeSubtreeComs equals to true. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >
void	getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
	Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >
void	getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da)
	Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	getJointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame)
	Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame, in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the local frame (rf = LOCAL) of the joint. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6Like >
void	getJointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6Like > &J)
	Computes the Jacobian of a specific joint frame expressed in one of the pinocchio::ReferenceFrame options. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6Like >
void	getJointJacobianTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6Like > &dJ)
	Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD), in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the local frame (rf = LOCAL) of the joint. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Tensor< Scalar, 3, Options >	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf)
	Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to \( q \), the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf, Tensor< Scalar, 3, Options > &kinematic_hessian)
	Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to \( q \), the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. The frame in which the kinematic Hessian is precised by the input argument rf. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >
void	getJointVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv)
	Computes the partial derivaties of the spatial velocity of a given with respect to the joint configuration and velocity. You must first call computForwardKinematicsDerivatives before calling this function. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConstraintMatrixType , typename KKTMatrixType >
PINOCCHIO_DEPRECATED void	getKKTContactDynamicMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv)
	Computes the inverse of the KKT matrix for dynamics with contact constraints. More...
int	getOpenMPNumThreadsEnv ()
	Returns the number of thread defined by the environment variable OMP_NUM_THREADS. If this variable is not defined, this simply returns the default value 1.
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut1 , typename Matrix3xOut2 , typename Matrix3xOut3 , typename Matrix3xOut4 >
void	getPointClassicAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix3xOut1 > &v_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut2 > &a_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut3 > &a_point_partial_dv, const Eigen::MatrixBase< Matrix3xOut4 > &a_point_partial_da)
	Computes the partial derivatives of the classic acceleration of a point given by its placement information w.r.t. the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_point_partial_dq. v_point_partial_dv is not computed it is equal to a_point_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut1 , typename Matrix3xOut2 , typename Matrix3xOut3 , typename Matrix3xOut4 , typename Matrix3xOut5 >
void	getPointClassicAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix3xOut1 > &v_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut2 > &v_point_partial_dv, const Eigen::MatrixBase< Matrix3xOut3 > &a_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut4 > &a_point_partial_dv, const Eigen::MatrixBase< Matrix3xOut5 > &a_point_partial_da)
	Computes the partial derivaties of the classic acceleration of a point given by its placement information w.r.t. to the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_point_partial_dq and v_point_partial_dv.. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut1 , typename Matrix3xOut2 >
void	getPointVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const SE3Tpl< Scalar, Options > &placement, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix3xOut1 > &v_point_partial_dq, const Eigen::MatrixBase< Matrix3xOut2 > &v_point_partial_dv)
	Computes the partial derivatives of the velocity of a point given by its placement information w.r.t. the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. More...
template<typename Scalar , int Options, class Allocator >
struct PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") RigidConstraintModelTpl size_t	getTotalConstraintSize (const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
	Contact model structure containg all the info describing the rigid contact model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the spatial velocity of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
const std::vector< bool >	hasConfigurationLimit (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointConfigurationLimitVisitor to get the configurations limits. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
const std::vector< bool >	hasConfigurationLimitInTangent (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointConfigurationLimitInTangentVisitor to get the configurations limits in tangent space. More...
template<typename Derived >
bool	hasNaN (const Eigen::DenseBase< Derived > &m)
template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	hasSameIndexes (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel)
	Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived. More...
template<typename Matrix3Like1 , typename Vector3Like , typename Matrix3Like2 >
void	Hlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like2 > &vt_Hlog)
	Second order derivative of log3. More...
template<typename Scalar , typename Vector3Like1 , typename Vector3Like2 , typename Matrix3Like >
void	Hlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like1 > &log, const Eigen::MatrixBase< Vector3Like2 > &v, const Eigen::MatrixBase< Matrix3Like > &vt_Hlog)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointIndex	id (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	idx_q (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	idx_v (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
	Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , class ConstraintModelAllocator , class ConstraintDataAllocator >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v_before, const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &contact_datas, const Scalar r_coeff, const ProximalSettingsTpl< Scalar > &settings)
	Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >
PINOCCHIO_DEPRECATED const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
	Compute the impulse dynamics with contact constraints, assuming pinocchio::crba has been called. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class Allocator >
void	initConstraintDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
	Init the forward dynamics data according to the contact information contained in contact_models. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class Allocator >
void	initPvDelassus (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, class Allocator >
void	initPvSolver (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &contact_models)
	Init the data according to the contact information contained in contact_models. More...
template<typename LieGroupCollection , class ConfigIn_t , class Tangent_t , class ConfigOut_t >
void	integrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
	Visit a LieGroupVariant to call its integrate method. More...
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	interpolate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const typename ConfigL_t::Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout)
template<typename MatrixIn , typename MatrixOut >
void	inverse (const Eigen::MatrixBase< MatrixIn > &m_in, const Eigen::MatrixBase< MatrixOut > &dest)
template<typename Scalar , int Options, template< typename S, int O > class ConstraintCollectionTpl, typename ConstraintDataDerived >
bool	isEqual (const ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > &cdata_generic, const ConstraintDataBase< ConstraintDataDerived > &cdata)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	isEqual (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointDataBase< JointDataDerived > &jmodel)
	Visit a JointDataTpl<Scalar,...> to compare it to another JointData. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	isEqual (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel)
	Visit a JointModelTpl<Scalar,...> to compare it to JointModelDerived. More...
template<typename VectorLike >
bool	isNormalized (const Eigen::MatrixBase< VectorLike > &vec, const typename VectorLike::RealScalar &prec=Eigen::NumTraits< typename VectorLike::Scalar >::dummy_precision())
	Check whether the input vector is Normalized within the given precision. More...
template<typename LieGroupCollection , class Config_t >
bool	isNormalized (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qin, const typename Config_t::Scalar &prec=Eigen::NumTraits< typename Config_t::Scalar >::dummy_precision())
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
bool	isSameConfiguration (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const typename ConfigL_t::Scalar &prec)
template<typename MatrixLike >
bool	isUnitary (const Eigen::MatrixBase< MatrixLike > &mat, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())
	Check whether the input matrix is Unitary within the given precision. More...
template<typename MatrixLike >
bool	isZero (const Eigen::MatrixBase< MatrixLike > &m, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, template< typename S, int O > class ConstraintCollectionTpl, typename JacobianMatrix >
void	jacobian (const ConstraintModelTpl< Scalar, Options, ConstraintCollectionTpl > &cmodel, ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > &cdata, const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< JacobianMatrix > &jacobian_matrix)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	jacobianCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
	Computes both the jacobian and the the center of mass position of a given model according to the current value stored in data. It assumes that forwardKinematics has been called first. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	jacobianCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool computeSubtreeComs=true)
	Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix3xLike >
void	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Computes the Jacobian of the center of mass of the given subtree according to a particular joint configuration. In addition, the algorithm also computes the Jacobian of all the joints (. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >
void	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Computes the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that forwardKinematics has been called first. More...
template<AssignmentOperatorType op, typename Vector3Like , typename Matrix3Like >
void	Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
	Derivative of \( \exp{r} \). More...
template<typename Vector3Like , typename Matrix3Like >
void	Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
	Derivative of \( \exp{r} \). More...
template<typename MotionDerived >
Eigen::Matrix< typename MotionDerived::Scalar, 6, 6, MotionDerived::Options >	Jexp6 (const MotionDense< MotionDerived > &nu)
	Derivative of exp6 Computed as the inverse of Jlog6.
template<AssignmentOperatorType op, typename MotionDerived , typename Matrix6Like >
void	Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
	Derivative of exp6 Computed as the inverse of Jlog6.
template<typename MotionDerived , typename Matrix6Like >
void	Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
	Derivative of exp6 Computed as the inverse of Jlog6.
template<typename Matrix3Like1 , typename Matrix3Like2 >
void	Jlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Matrix3Like2 > &Jlog)
	Derivative of log3. More...
template<typename Scalar , typename Vector3Like , typename Matrix3Like >
void	Jlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like > &log, const Eigen::MatrixBase< Matrix3Like > &Jlog)
	Derivative of log3. More...
template<typename Scalar , int Options>
Eigen::Matrix< Scalar, 6, 6, Options >	Jlog6 (const SE3Tpl< Scalar, Options > &M)
	Derivative of log6. More...
template<typename Scalar , int Options, typename Matrix6Like >
void	Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog)
	Derivative of log6. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointMotionSubspaceTpl< Eigen::Dynamic, Scalar, Options >	joint_motin_subspace_xd (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointDataTpl< Scalar, Options, JointCollectionTpl >::ConfigVector_t	joint_q (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataVariant through JointConfigVisitor to get the joint configuration vector. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
SE3Tpl< Scalar, Options >	joint_transform (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint). More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointDataTpl< Scalar, Options, JointCollectionTpl >::TangentVector_t	joint_v (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataVariant through JointConfigVisitor to get the joint velocity vector. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType &	jointBodyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, JointIndex joint_id)
	Computes the regressor for the dynamic parameters of a rigid body attached to a given joint, puts the result in data.bodyRegressor and returns it. More...
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options >	log3 (const Eigen::MatrixBase< Matrix3Like > &R)
	Log: SO(3)-> so(3). More...
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options >	log3 (const Eigen::MatrixBase< Matrix3Like > &R, typename Matrix3Like::Scalar &theta)
	Same as log3. More...
template<typename Matrix4Like >
MotionTpl< typename Matrix4Like::Scalar, Eigen::internal::traits< Matrix4Like >::Options >	log6 (const Eigen::MatrixBase< Matrix4Like > &M)
	Log: SE3 -> se3. More...
template<typename Vector3Like , typename QuaternionLike >
MotionTpl< typename Vector3Like::Scalar, Vector3Like::Options >	log6 (const Eigen::QuaternionBase< QuaternionLike > &quat, const Eigen::MatrixBase< Vector3Like > &vec)
	Log: SE3 -> se3. More...
template<typename Scalar , int Options>
MotionTpl< Scalar, Options >	log6 (const SE3Tpl< Scalar, Options > &M)
	Log: SE3 -> se3. More...
template<typename M >
auto	make_const_ref (Eigen::MatrixBase< M > const &m) -> Eigen::Ref< typename M::PlainObject const >
template<typename Derived >
Eigen::Ref< typename Derived::PlainObject >	make_ref (const Eigen::MatrixBase< Derived > &x)
AlgorithmCheckerList< ParentChecker, CRBAChecker, ABAChecker >	makeDefaultCheckerList ()
	Default checker-list, used as the default argument in Model::check().
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
MotionTpl< Scalar, Options >	motion (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion. More...
template<typename LieGroupCollection >
std::string	name (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the name of it. More...
template<typename LieGroupCollection >
Eigen::Matrix< typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options >	neutral (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the neutral element of it. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	nonLinearEffects (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the bias terms \( b(q,\dot{q}) \) of the Lagrangian dynamics: More...
template<typename VectorLike >
void	normalize (const Eigen::MatrixBase< VectorLike > &vec)
	Normalize the input vector. More...
template<typename LieGroupCollection , class Config_t >
void	normalize (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout)
template<typename Matrix3 >
void	normalizeRotation (const Eigen::MatrixBase< Matrix3 > &rot)
	Orthogonormalization procedure for a rotation matrix (closed enough to SO(3)). More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	nq (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space. More...
template<typename LieGroupCollection >
int	nq (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the dimension of the Lie group configuration space. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	nv (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space. More...
template<typename LieGroupCollection >
int	nv (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the dimension of the Lie group tangent space. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	operator!= (const JointDataBase< JointDataDerived > &joint_data, const JointDataTpl< Scalar, Options, JointCollectionTpl > &joint_data_generic)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	operator!= (const JointModelBase< JointModelDerived > &joint_model, const JointModelTpl< Scalar, Options, JointCollectionTpl > &joint_model_generic)
template<typename LhsMatrixType , typename S , int O>
TridiagonalSymmetricMatrixApplyOnTheLeftReturnType< LhsMatrixType, TridiagonalSymmetricMatrixTpl< S, O > >	operator* (const Eigen::MatrixBase< LhsMatrixType > &lhs, const TridiagonalSymmetricMatrixTpl< S, O > &rhs)
template<typename M6Like , typename S2 , int O2>
Eigen::Matrix< S2, 6, 3, O2 >	operator* (const Eigen::MatrixBase< M6Like > &Y, const JointMotionSubspacePlanarTpl< S2, O2 > &)
template<typename M6Like , typename S2 , int O2>
SizeDepType< 3 >::ColsReturn< M6Like >::ConstType	operator* (const Eigen::MatrixBase< M6Like > &Y, const JointMotionSubspaceSphericalTpl< S2, O2 > &)
template<typename M6Like , typename S2 , int O2>
const SizeDepType< 3 >::ColsReturn< M6Like >::ConstType	operator* (const Eigen::MatrixBase< M6Like > &Y, const JointMotionSubspaceTranslationTpl< S2, O2 > &)
template<typename Matrix6Like , typename S2 , int O2>
const Matrix6Like &	operator* (const Eigen::MatrixBase< Matrix6Like > &Y, const JointMotionSubspaceIdentityTpl< S2, O2 > &)
template<typename Matrix6Like , typename S2 , int O2>
const MatrixMatrixProduct< typename Eigen::internal::remove_const< typename SizeDepType< 3 >::ColsReturn< Matrix6Like >::ConstType >::type, typename JointMotionSubspaceSphericalZYXTpl< S2, O2 >::Matrix3 >::type	operator* (const Eigen::MatrixBase< Matrix6Like > &Y, const JointMotionSubspaceSphericalZYXTpl< S2, O2 > &S)
template<typename MatrixDerived , typename ConstraintDerived >
MultiplicationOp< Eigen::MatrixBase< MatrixDerived >, ConstraintDerived >::ReturnType	operator* (const Eigen::MatrixBase< MatrixDerived > &Y, const JointMotionSubspaceBase< ConstraintDerived > &constraint)
	More...
template<typename S1 , int O1, typename S2 , int O2>
InertiaTpl< S1, O1 >::Matrix6	operator* (const InertiaTpl< S1, O1 > &Y, const JointMotionSubspaceIdentityTpl< S2, O2 > &)
template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S1, 6, 3, O1 >	operator* (const InertiaTpl< S1, O1 > &Y, const JointMotionSubspacePlanarTpl< S2, O2 > &)
template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S2, 6, 3, O2 >	operator* (const InertiaTpl< S1, O1 > &Y, const JointMotionSubspaceSphericalTpl< S2, O2 > &)
template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S1, 6, 3, O1 >	operator* (const InertiaTpl< S1, O1 > &Y, const JointMotionSubspaceSphericalZYXTpl< S2, O2 > &S)
template<typename S1 , int O1, typename S2 , int O2>
Eigen::Matrix< S2, 6, 3, O2 >	operator* (const InertiaTpl< S1, O1 > &Y, const JointMotionSubspaceTranslationTpl< S2, O2 > &)
template<typename Scalar , int Options, typename ConstraintDerived >
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType	operator* (const InertiaTpl< Scalar, Options > &Y, const JointMotionSubspaceBase< ConstraintDerived > &constraint)
	More...
template<typename Scalar , int Options, typename Vector6Like >
MotionRef< const Vector6Like >	operator* (const JointMotionSubspaceIdentityTpl< Scalar, Options > &, const Eigen::MatrixBase< Vector6Like > &v)
template<class ConstraintDerived >
JointMotionSubspaceTransposeBase< ConstraintDerived >::StDiagonalMatrixSOperationReturnType	operator* (const JointMotionSubspaceTransposeBase< ConstraintDerived > &, const JointMotionSubspaceBase< ConstraintDerived > &S)
template<typename _Scalar , int _Options, int _axis>
Eigen::Matrix< _Scalar, 1, 1, _Options >	operator* (const typename JointMotionSubspaceHelicalTpl< _Scalar, _Options, _axis >::TransposeConst &S_transpose, const JointMotionSubspaceHelicalTpl< _Scalar, _Options, _axis > &S)
template<typename _Scalar , int _Options>
Eigen::Matrix< _Scalar, 1, 1, _Options >	operator* (const typename JointMotionSubspaceHelicalUnalignedTpl< _Scalar, _Options >::TransposeConst &S_transpose, const JointMotionSubspaceHelicalUnalignedTpl< _Scalar, _Options > &S)
template<typename MotionDerived >
internal::RHSScalarMultiplication< MotionDerived, typename MotionDerived::Scalar >::ReturnType	operator* (const typename MotionDerived::Scalar &alpha, const MotionBase< MotionDerived > &motion)
template<typename F1 >
traits< F1 >::ForcePlain	operator* (const typename traits< F1 >::Scalar alpha, const ForceDense< F1 > &f)
	Basic operations specialization.
template<typename M1 >
traits< M1 >::MotionPlain	operator* (const typename traits< M1 >::Scalar alpha, const MotionDense< M1 > &v)
template<typename M1 , typename Scalar , int Options>
const M1 &	operator+ (const MotionBase< M1 > &v, const MotionZeroTpl< Scalar, Options > &)
template<typename S1 , int O1, int axis, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionHelicalTpl< S1, O1, axis > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionHelicalUnalignedTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)
template<typename Scalar , int Options, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPlanarTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2)
template<typename Scalar , int Options, int axis, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPrismaticTpl< Scalar, Options, axis > &m1, const MotionDense< MotionDerived > &m2)
template<typename Scalar , int Options, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPrismaticUnalignedTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, int axis, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionRevoluteTpl< S1, O1, axis > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionRevoluteUnalignedTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionSphericalTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionTranslationTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)
template<typename Scalar , int Options, typename M1 >
const M1 &	operator+ (const MotionZeroTpl< Scalar, Options > &, const MotionBase< M1 > &v)
template<typename Scalar , int Options>
std::ostream &	operator<< (std::ostream &os, const FrameTpl< Scalar, Options > &f)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
std::ostream &	operator<< (std::ostream &os, const JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > &jdata)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
std::ostream &	operator<< (std::ostream &os, const JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > &jmodel)
template<typename ConstraintDataDerived , typename Scalar , int Options, template< typename S, int O > class ConstraintCollectionTpl>
bool	operator== (const ConstraintDataBase< ConstraintDataDerived > &data1, const ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > &data2)
bool	operator== (const fcl::CollisionObject &lhs, const fcl::CollisionObject &rhs)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	operator== (const JointDataBase< JointDataDerived > &joint_data, const JointDataTpl< Scalar, Options, JointCollectionTpl > &joint_data_generic)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	operator== (const JointModelBase< JointModelDerived > &joint_model, const JointModelTpl< Scalar, Options, JointCollectionTpl > &joint_model_generic)
template<typename M1 , typename F1 >
traits< F1 >::ForcePlain	operator^ (const MotionDense< M1 > &v, const ForceBase< F1 > &f)
template<typename M1 , typename M2 >
traits< M1 >::MotionPlain	operator^ (const MotionDense< M1 > &v1, const MotionDense< M2 > &v2)
	Basic operations specialization.
template<typename MotionDerived , typename S2 , int O2, int axis>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionHelicalTpl< S2, O2, axis > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionHelicalUnalignedTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPlanarTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2, int axis>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticTpl< S2, O2, axis > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticUnalignedTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2, int axis>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteTpl< S2, O2, axis > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteUnalignedTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionSphericalTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionTranslationTpl< S2, O2 > &m2)
template<typename Matrix3 >
Matrix3	orthogonalProjection (const Eigen::MatrixBase< Matrix3 > &mat)
	Orthogonal projection of a matrix on the SO(3) manifold. More...
template<typename MatrixType , typename VectorType >
void	orthonormalisation (const Eigen::MatrixBase< MatrixType > &basis, const Eigen::MatrixBase< VectorType > &vec_)
	Perform the Gram-Schmidt orthonormalisation on the input/output vector for a given input basis. More...
template<typename Scalar >
const Scalar	PI ()
	Returns the value of PI according to the template parameters Scalar. More...
typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector
typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector
	PINOCCHIO_DEFINE_COMPARISON_OP (equal_to_op,==)
	PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_op, >)
	PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_or_equal_to_op, >=)
	PINOCCHIO_DEFINE_COMPARISON_OP (less_than_op,<)
	PINOCCHIO_DEFINE_COMPARISON_OP (less_than_or_equal_to_op,<=)
	PINOCCHIO_DEFINE_COMPARISON_OP (not_equal_to_op, !=)
std::string	printVersion (const std::string &delimiter=".")
	Returns the current version of Pinocchio as a string using the following standard: PINOCCHIO_MINOR_VERSION.PINOCCHIO_MINOR_VERSION.PINOCCHIO_PATCH_VERSION.
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , class ContactModelAllocator , class ContactDataAllocator >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	pv (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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ContactModelAllocator > &contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ContactDataAllocator > &contact_datas, ProximalSettingsTpl< Scalar > &settings)
	The Popov-Vereshchagin algorithm. It computes constrained forward dynamics, aka the joint accelerations and constraint forces given the current state, actuation and the constraints on the system. All the quantities are expressed in the LOCAL coordinate systems of the joint frames. More...
template<typename LieGroupCollection , class Config_t >
void	random (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout)
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	randomConfiguration (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< ConfigOut_t > &qout)
std::string	randomStringGenerator (const int len)
	Generate a random string composed of alphanumeric symbols of a given length. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	reachableWorkspace (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, Eigen::MatrixXd &vertex, const ReachableSetParams &params=ReachableSetParams())
	Computes the reachable workspace on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	reachableWorkspaceHull (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, ReachableSetResults &res, const ReachableSetParams &params=ReachableSetParams())
	Computes the convex Hull reachable workspace on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	reachableWorkspaceWithCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, Eigen::MatrixXd &vertex, const ReachableSetParams &params=ReachableSetParams())
	Computes the reachable workspace with respect to a geometry model on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	reachableWorkspaceWithCollisionsHull (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, ReachableSetResults &res, const ReachableSetParams &params=ReachableSetParams())
	Computes the convex Hull of the reachable workspace with respect to a geometry model on a fixed time horizon. Make sure that reachable workspace takes into account collisions with environment. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity. More...
template<typename Matrix3 >
Matrix3	renormalize_rotation_matrix (const Eigen::MatrixBase< Matrix3 > &R)
bool	replace (std::string &input_str, const std::string &from, const std::string &to)
	Replace string from with to in input_str. More...
template<typename VectorLike >
VectorLike::Scalar	retrieveLargestEigenvalue (const Eigen::MatrixBase< VectorLike > &eigenvector)
	Compute the lagest eigenvalue of a given matrix. This is taking the eigenvector computed by the function computeLargestEigenvector. More...
std::string	retrieveResourcePath (const std::string &string, const std::vector< std::string > &package_dirs)
	Retrieve the path of the file whose path is given in URL-format. Currently convert from the following patterns : package:// or file://. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	rnea (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 > &a)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	rnea (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 > &a, const container::aligned_vector< ForceDerived > &fext)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system, the desired joint accelerations and the external forces. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 >
void	rneaInParallel (const size_t num_threads, ModelPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< TangentVectorPool1 > &v, const Eigen::MatrixBase< TangentVectorPool2 > &a, const Eigen::MatrixBase< TangentVectorPool3 > &tau)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations. More...
PINOCCHIO_PARSERS_DLLAPI std::vector< std::string >	rosPaths ()
	Parse the environment variables ROS_PACKAGE_PATH / AMENT_PREFIX_PATH and extract paths. More...
template<typename To , typename From >
To	scalar_cast (const From &value)
void	set_default_omp_options (const size_t num_threads=(size_t) omp_get_max_threads())
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
void	setIndexes (JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
	Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
std::string	shortname (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model. More...
template<typename Scalar >
Scalar	sign (const Scalar &t)
	Returns the robust sign of t.
template<typename S1 , typename S2 , typename S3 >
void	SINCOS (const S1 &a, S2 *sa, S3 *ca)
	Computes sin/cos values of a given input scalar. More...
template<typename D >
Eigen::Matrix< typename D::Scalar, 3, 3, D ::Options >	skew (const Eigen::MatrixBase< D > &v)
	Computes the skew representation of a given 3D vector, i.e. the antisymmetric matrix representation of the cross product operator. More...
template<typename Vector3 , typename Matrix3 >
void	skew (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation of the cross product operator ( \( [v]_{\times} x = v \times x \)) More...
template<typename V1 , typename V2 >
Eigen::Matrix< typename V1::Scalar, 3, 3, V1 ::Options >	skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v)
	Computes the square cross product linear operator C(u,v) such that for any vector w, \( u \times ( v \times w ) = C(u,v) w \). More...
template<typename V1 , typename V2 , typename Matrix3 >
void	skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v, const Eigen::MatrixBase< Matrix3 > &C)
	Computes the square cross product linear operator C(u,v) such that for any vector w, \( u \times ( v \times w ) = C(u,v) w \). More...
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
ConfigL_t::Scalar	squaredDistance (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	stu_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointStUInertiaVisitor to get St*I*S matrix of the inertia matrix decomposition. More...
template<typename Derived >
void	toCSVfile (const std::string &filename, const Eigen::MatrixBase< Derived > &matrix)
template<typename Scalar >
hpp::fcl::Transform3f	toFclTransform3f (const SE3Tpl< Scalar > &m)
SE3	toPinocchioSE3 (const hpp::fcl::Transform3f &tf)
template<typename Vector3 , typename Scalar , typename Matrix3 >
void	toRotationMatrix (const Eigen::MatrixBase< Vector3 > &axis, const Scalar &angle, const Eigen::MatrixBase< Matrix3 > &res)
	Computes a rotation matrix from a vector and the angular value orientations values. More...
template<typename Vector3 , typename Scalar , typename Matrix3 >
void	toRotationMatrix (const Eigen::MatrixBase< Vector3 > &axis, const Scalar &cos_value, const Scalar &sin_value, const Eigen::MatrixBase< Matrix3 > &res)
	Computes a rotation matrix from a vector and values of sin and cos orientations values. More...
template<Eigen::UpLoType info, typename LhsMatrix , typename RhsMatrix , typename ResMat >
void	triangularMatrixMatrixProduct (const Eigen::MatrixBase< LhsMatrix > &lhs_mat, const Eigen::MatrixBase< RhsMatrix > &rhs_mat, const Eigen::MatrixBase< ResMat > &res)
	Evaluate the product of a triangular matrix times a matrix. Eigen showing a bug at this level, in the case of vector entry. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	u_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	udinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition. More...
template<typename Matrix3 >
Eigen::Matrix< typename Matrix3::Scalar, 3, 1, Matrix3 ::Options >	unSkew (const Eigen::MatrixBase< Matrix3 > &M)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes \( v \) such that \( M x = v \times x \). More...
template<typename Matrix3 , typename Vector3 >
void	unSkew (const Eigen::MatrixBase< Matrix3 > &M, const Eigen::MatrixBase< Vector3 > &v)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes \( v \) such that \( M x = v \times x \). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::SE3 &	updateFramePlacement (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id)
	Updates the placement of the given frame. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateFramePlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Updates the position of each frame contained in the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
	Update the placement of the geometry objects according to the current joint placements contained in data. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Apply a forward kinematics and update the placement of the geometry objects. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateGlobalPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Update the global placement of the joints oMi according to the relative placements of the joints. More...
template<typename _Scalar , int _Options>
struct	PINOCCHIO_UNSUPPORTED_MESSAGE ("The API will change towards more flexibility") ContactCholeskyDecompositionTpl
	Contact Cholesky decomposition structure. This structure allows to compute in a efficient and parsimonious way the Cholesky decomposition of the KKT matrix related to the contact dynamics. Such a decomposition is usefull when computing both the forward dynamics in contact or the related analytical derivatives. More...
API with return value as argument
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType >
void	integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ReturnType >
void	integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u, const Eigen::MatrixBase< ReturnType > &qout)
	Interpolate two configurations for a given model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u, const Eigen::MatrixBase< ReturnType > &qout)
	Interpolate two configurations for a given model. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout)
	Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout)
	Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out)
	Squared distance between two configuration vectors. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out)
	Squared distance between two configuration vectors. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
	Generate a configuration vector uniformly sampled among provided limits. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 , typename ReturnType >
void	randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
	Generate a configuration vector uniformly sampled among provided limits. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType >
void	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
	Return the neutral configuration element related to the model configuration space. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ReturnType >
void	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
	Return the neutral configuration element related to the model configuration space. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg)
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg, const AssignmentOperatorType op)
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg)
	Transport a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType1 , typename JacobianMatrixType2 >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg)
	Transport a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg)
	Transport in place a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename JacobianMatrixType >
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg)
	Transport in place a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix >
void	dDifference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
	Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector1 , typename ConfigVector2 , typename JacobianMatrix >
void	dDifference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
	Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	squaredDistanceSum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Overall squared distance between two configuration vectors. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	squaredDistanceSum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Overall squared distance between two configuration vectors, namely \( || q_{1} \ominus q_{0} ||_2^{2} \). More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	distance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Distance between two configuration vectors, namely \( || q_{1} \ominus q_{0} ||_2 \). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
Scalar	distance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Distance between two configuration vectors. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	normalize (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout)
	Normalize a configuration vector. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	normalize (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout)
	Normalize a configuration vector. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	isNormalized (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Check whether a configuration vector is normalized within the given precision provided by prec. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	isNormalized (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Check whether a configuration vector is normalized within the given precision provided by prec. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
bool	isSameConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Return true if the given configurations are equivalents, within the given precision. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
bool	isSameConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
	Return true if the given configurations are equivalents, within the given precision. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix >
void	integrateCoeffWiseJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< JacobianMatrix > &jacobian)
	Return the Jacobian of the integrate function for the components of the config vector. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVector , typename JacobianMatrix >
void	integrateCoeffWiseJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< JacobianMatrix > &jacobian)
	Return the Jacobian of the integrate function for the components of the config vector. More...

Variables
const int	Dynamic = -1
PINOCCHIO_COMPILER_DIAGNOSTIC_POP typedef std::size_t	Index

API that allocates memory
	Options
JointCollectionTpl &	model
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > &	lowerLimits
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > &	upperLimits
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
ConfigVectorType	integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
ConfigVectorType	integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Integrate a configuration vector for the specified model for a tangent vector during one unit time. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
ConfigVectorIn1	interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u)
	Interpolate two configurations for a given model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
ConfigVectorIn1	interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u)
	Interpolate two configurations for a given model. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
ConfigVectorIn1	difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
ConfigVectorIn1	difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
ConfigVectorIn1	squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Squared distance between two configurations. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
ConfigVectorIn1	squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
	Squared distance between two configuration vectors. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among given limits. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorIn1 , typename ConfigVectorIn2 >
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among provided limits. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among the joint limits of the specified Model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
	PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS ((typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)) randomConfiguration(const ModelTpl< Scalar
	Generate a configuration vector uniformly sampled among the joint limits of the specified Model. More...
template<typename LieGroup_t , typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Return the neutral configuration element related to the model configuration space. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Return the neutral configuration element related to the model configuration space. More...

Detailed Description

Main pinocchio namespace.

Be carefull to include this header after fwd.hpp. fwd.hpp contains some define to change the boost::variant max size. If we don't include it before, default size is choosed that can make all the build fail.

Enumeration Type Documentation

anonymous enum

anonymous enum

Definition at line 14 of file fwd.hpp.

ContactType

enum ContactType

 

Type of contact

Enumerator
CONTACT_6D	Point contact model.
CONTACT_UNDEFINED	Frame contact model   The default contact is undefined

Definition at line 19 of file contact-info.hpp.

FrameType

enum FrameType

Enum on the possible types of frames.

Note

In Pinocchio, the FIXED joints are not included in the kinematic tree but we keep track of them via the vector of frames contained in ModelTpl. The JOINT frames are duplicate information with respect to the joint information contained in ModelTpl.

All other frame types are defined for user convenience and code readability, to also keep track of the information usually stored within URDF models.

See also https://wiki.ros.org/urdf/XML/joint, https://wiki.ros.org/urdf/XML/link and https://wiki.ros.org/urdf/XML/sensor.

Enumerator
OP_FRAME	operational frame: user-defined frames that are defined at runtime
JOINT	joint frame: attached to the child body of a joint (a.k.a. child frame)
FIXED_JOINT	fixed joint frame: joint frame but for a fixed joint
BODY	body frame: attached to the collision, inertial or visual properties of a link
SENSOR	sensor frame: defined in a sensor element

Definition at line 31 of file frame.hpp.

Function Documentation

aba() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::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,
		const Convention	rf = Convention::LOCAL
	)

The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model and the external forces.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
ForceDerived	Type of the external forces.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	fext	Vector of external forces expressed in the local frame of the joints (dim model.njoints)
[in]	convention	Convention to use.

Note

When running in LOCAL convention data.f can be leaved in an inconsistent state.

Returns

The current joint acceleration stored in data.ddq.

aba() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::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 the current state and actuation of the model.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	convention	Convention to use.

Note

When running in LOCAL convention data.f can be leaved in an inconsistent state.

Returns

The current joint acceleration stored in data.ddq.

abaInParallel()

void pinocchio::abaInParallel	(	const size_t	num_threads,
		ModelPoolTpl< Scalar, Options, JointCollectionTpl > &	pool,
		const Eigen::MatrixBase< ConfigVectorPool > &	q,
		const Eigen::MatrixBase< TangentVectorPool1 > &	v,
		const Eigen::MatrixBase< TangentVectorPool2 > &	tau,
		const Eigen::MatrixBase< TangentVectorPool3 > &	a
	)

A parallel version of the Articulated Body algorithm. It computes the forward dynamics, aka the joint acceleration according to the current state of the system and the desired joint torque.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorPool	Matrix type of the joint configuration vector.
TangentVectorPool1	Matrix type of the joint velocity vector.
TangentVectorPool2	Matrix type of the joint torque vector.
TangentVectorPool3	Matrix type of the joint acceleration vector.

Parameters

[in]	pool	Pool containing model and data for parallel computations.
[in]	num_threads	Number of threads used for parallel computations.
[in]	q	The joint configuration vector (dim model.nq x batch_size).
[in]	v	The joint velocity vector (dim model.nv x batch_size).
[in]	tau	The joint acceleration vector (dim model.nv x batch_size).
[out]	a	The joint torque vector (dim model.nv x batch_size).

Definition at line 41 of file aba.hpp.

addSkew()

void pinocchio::addSkew ( const Eigen::MatrixBase< Vector3Like > &  v, const Eigen::MatrixBase< Matrix3Like > &  M  )

inline

Add skew matrix represented by a 3d vector to a given matrix, i.e. add the antisymmetric matrix representation of the cross product operator ( \( [v]_{\times} x = v \times x \))

Parameters

[in]	v	a vector of dimension 3.
[out]	M	the 3x3 matrix to which the skew matrix is added.

Definition at line 68 of file skew.hpp.

alphaSkew() [1/2]

Eigen::Matrix<typename Vector3::Scalar, 3, 3, Vector3 ::Options> pinocchio::alphaSkew ( const Scalar  alpha, const Eigen::MatrixBase< Vector3 > &  v  )

inline

Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( \( [\alpha v]_{\times} x = \alpha v \times x \))

Parameters

[in]	alpha	a real scalar.
[in]	v	a vector of dimension 3.

Returns

the skew matrix representation of \( \alpha v \).

Definition at line 166 of file skew.hpp.

alphaSkew() [2/2]

void pinocchio::alphaSkew	(	const Scalar	alpha,
		const Eigen::MatrixBase< Vector3 > &	v,
		const Eigen::MatrixBase< Matrix3 > &	M
	)

Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( \( [\alpha v]_{\times} x = \alpha v \times x \))

Parameters

[in]	alpha	a real scalar.
[in]	v	a vector of dimension 3.
[out]	M	the skew matrix representation of dimension 3x3.

Definition at line 134 of file skew.hpp.

appendGeometryModel()

void pinocchio::appendGeometryModel ( GeometryModel &  geom_model1, const GeometryModel &  geom_model2  )

inline

Append geom_model2 to geom_model1

The steps for appending are:

• add GeometryObject of geom_model2 to geom_model1,
• add the collision pairs of geom_model2 into geom_model1 (indexes are updated)
• add all the collision pairs between geometry objects of geom_model1 and geom_model2. It is possible to ommit both data (an additional function signature is available which makes them optionnal), then inner/outer objects are not updated.

Parameters

[out]	geom_model1	geometry model where the data is added
[in]	geom_model2	geometry model from which new geometries are taken

Note

Of course, the geom_data corresponding to geom_model1 will not be valid anymore, and should be updated (or more simply, re-created from the new setting of geom_model1).

Todo:

This function is not asserted in unittest.

appendModel() [1/3]

ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::appendModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelA,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelB,
		const FrameIndex	frameInModelA,
		const SE3Tpl< Scalar, Options > &	aMb
	)

Append a child model into a parent model, after a specific frame given by its index.

Parameters

[in]	modelA	the parent model.
[in]	modelB	the child model.
[in]	frameInModelA	index of the frame of modelA where to append modelB.
[in]	aMb	pose of modelB universe joint (index 0) in frameInModelA.

Returns

A new model containing the fusion of modelA and modelB.

The order of the joints in the output models are

• joints of modelA up to the parent of FrameInModelA,
• all the descendents of parent of FrameInModelA,
• the remaining joints of modelA.

Definition at line 51 of file model.hpp.

appendModel() [2/3]

void pinocchio::appendModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelA,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelB,
		const FrameIndex	frameInModelA,
		const SE3Tpl< Scalar, Options > &	aMb,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model
	)

Append a child model into a parent model, after a specific frame given by its index.

Parameters

[in]	modelA	the parent model.
[in]	modelB	the child model.
[in]	frameInModelA	index of the frame of modelA where to append modelB.
[in]	aMb	pose of modelB universe joint (index 0) in frameInModelA.
[out]	model	the resulting model.

The order of the joints in the output models are

• joints of modelA up to the parent of FrameInModelA,
• all the descendents of parent of FrameInModelA,
• the remaining joints of modelA.

appendModel() [3/3]

void pinocchio::appendModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelA,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelB,
		const GeometryModel &	geomModelA,
		const GeometryModel &	geomModelB,
		const FrameIndex	frameInModelA,
		const SE3Tpl< Scalar, Options > &	aMb,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geomModel
	)

Append a child model into a parent model, after a specific frame given by its index.

Parameters

[in]	modelA	the parent model.
[in]	modelB	the child model.
[in]	geomModelA	the parent geometry model.
[in]	geomModelB	the child geometry model.
[in]	frameInModelA	index of the frame of modelA where to append modelB.
[in]	aMb	pose of modelB universe joint (index 0) in frameInModelA.
[out]	model	the resulting model.
[out]	geomModel	the resulting geometry model.

appendSuffixToPaths()

PINOCCHIO_PARSERS_DLLAPI void pinocchio::appendSuffixToPaths	(	std::vector< std::string > &	list_of_paths,
		const std::string &	suffix
	)

For a given vector of paths, add a suffix inplace to each path and return the vector inplace.

Parameters

[in,out]	list_of_paths	The vector of path names.
[in]	suffix	Suffix to be added to each element of the path names.

axisLabel()

char pinocchio::axisLabel ( )

inline

Generate the label (X, Y or Z) of the axis relative to its index.

Template Parameters

axis	Index of the axis (either 0 for X, 1 for Y and Z for 2).

Returns

a char containing the label of the axis.

bias()

MotionTpl<Scalar, Options> pinocchio::bias ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion.

Parameters

[in]

jdata

The joint data to visit.

Returns

The motion dense corresponding to the joint derived bias

bodyRegressor() [1/2]

Eigen::Matrix< typename MotionVelocity::Scalar, 6, 10, typename MotionVelocity::Vector3 ::Options> pinocchio::bodyRegressor ( const MotionDense< MotionVelocity > &  v, const MotionDense< MotionAcceleration > &  a  )

inline

Computes the regressor for the dynamic parameters of a single rigid body.

The result is such that \( I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters() \)

Parameters

[in]	v	Velocity of the rigid body
[in]	a	Acceleration of the rigid body

Returns

The regressor of the body.

bodyRegressor() [2/2]

void pinocchio::bodyRegressor ( const MotionDense< MotionVelocity > &  v, const MotionDense< MotionAcceleration > &  a, const Eigen::MatrixBase< OutputType > &  regressor  )

inline

Computes the regressor for the dynamic parameters of a single rigid body.

The result is such that \( I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters() \)

Parameters

[in]	v	Velocity of the rigid body
[in]	a	Acceleration of the rigid body
[out]	regressor	The resulting regressor of the body.

buildReducedModel() [1/4]

void pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const GeometryModel &	geom_model,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	reduced_model,
		GeometryModel &	reduced_geom_model
	)

Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	geom_model	the input geometry model to reduce.
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.
[out]	reduced_model	the reduced model.
[out]	reduced_geom_model	the reduced geometry model.

Remarks

All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

buildReducedModel() [2/4]

void pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::vector< GeometryModel, GeometryModelAllocator > &	list_of_geom_models,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	reduced_model,
		std::vector< GeometryModel, GeometryModelAllocator > &	list_of_reduced_geom_models
	)

Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	list_of_geom_models	the input geometry model to reduce (example: visual_model, collision_model).
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.
[out]	reduced_model	the reduced model.
[out]	list_of_reduced_geom_model	the list of reduced geometry models.

Remarks

All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

buildReducedModel() [3/4]

ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration
	)

Build a reduced model from a given input model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.

Returns

A reduce model of the input model.

Remarks

All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

Definition at line 136 of file model.hpp.

buildReducedModel() [4/4]

void pinocchio::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		std::vector< JointIndex >	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	reduced_model
	)

Build a reduced model from a given input model and a list of joint to lock.

Parameters

[in]	model	the input model to reduce.
[in]	list_of_joints_to_lock	list of joints to lock in the input model.
[in]	reference_configuration	reference configuration.
[out]	reduced_model	the reduced model.

Remarks

All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

Todo:

At the moment, the joint and geometry order is kept while the frames are re-ordered in a hard to predict way. Their order could be kept.

calc_aba()

void pinocchio::calc_aba ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata, const Eigen::MatrixBase< VectorLike > &  armature, const Eigen::MatrixBase< Matrix6Type > &  I, const bool  update_I  )

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6Type	A matrix 6x6 like Eigen container.

Parameters

[in]	jmodel	The corresponding JointModelVariant to the JointDataVariant we want to update
[in,out]	jdata	The JointDataVariant we want to update
[in]	armature	Armature related to the current joint.
[in,out]	I	Inertia matrix of the subtree following the jmodel in the kinematic chain as dense matrix *
[in]	update_I	If I should be updated or not

calc_first_order() [1/2]

void pinocchio::calc_first_order ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata, const Blank  blank, const Eigen::MatrixBase< TangentVectorType > &  v  )

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one.

Template Parameters

JointCollection	Collection of Joint types.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	jmodel	The corresponding JointModelVariant to the JointDataVariant we want to update
	jdata	The JointDataVariant we want to update
[in]	v	The full model's (in which the joint belongs to) velocity vector

calc_first_order() [2/2]

void pinocchio::calc_first_order ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType > &  v  )

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	jmodel	The corresponding JointModelVariant to the JointDataVariant we want to update
	jdata	The JointDataVariant we want to update
[in]	q	The full model's (in which the joint belongs to) configuration vector
[in]	v	The full model's (in which the joint belongs to) velocity vector

calc_zero_order()

void pinocchio::calc_zero_order ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata, const Eigen::MatrixBase< ConfigVectorType > &  q  )

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	jmodel	The corresponding JointModelVariant to the JointDataVariant we want to update
	jdata	The JointDataVariant we want to update
[in]	q	The full model's (in which the joint belongs to) configuration vector

cast_joint()

CastType<NewScalar, JointModelTpl<Scalar, Options, JointCollectionTpl> >::type pinocchio::cast_joint

(

const JointModelTpl< Scalar, Options, JointCollectionTpl > &

jmodel

)

Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...>

Template Parameters

NewScalar

new scalar type of of the JointModelTpl

Parameters

[in]

jmodel

The joint model to cast.

Returns

A new JointModelTpl<NewScalar,...> casted from JointModelTpl<Scalar,...>.

ccrba()

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x& pinocchio::ccrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta according to the current joint configuration and velocity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The Centroidal Momentum Matrix Ag.

Remarks

As another output, this algorithm also computes the Joint Jacobian matrix (accessible via data.J).

centerOfMass() [1/5]

const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const bool	computeSubtreeComs = true
	)

Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees, expressed in the local coordinate frame of each joint.

Definition at line 197 of file center-of-mass.hpp.

centerOfMass() [2/5]

const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const bool	computeSubtreeComs = true
	)

Computes the center of mass position of a given model according to a particular joint configuration. The result is accessible through data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

Returns

The center of mass position of the full rigid body system expressed in the world frame.

centerOfMass() [3/5]

const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const bool	computeSubtreeComs = true
	)

Computes the center of mass position and velocity of a given model according to a particular joint configuration and velocity. The result is accessible through data.com[0], data.vcom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

Returns

The center of mass position of the full rigid body system expressed in the world frame.

centerOfMass() [4/5]

const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	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 > &	a,
		const bool	computeSubtreeComs = true
	)

Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration. The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation. And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

Returns

The center of mass position of the full rigid body system expressed in the world frame.

centerOfMass() [5/5]

const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3& pinocchio::centerOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		KinematicLevel	kinematic_level,
		const bool	computeSubtreeComs = true
	)

Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data and the requested kinematic_level. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame).

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	kinematic_level	if = POSITION, computes the CoM position, if = VELOCITY, also computes the CoM velocity and if = ACCELERATION, it also computes the CoM acceleration.
[in]	computeSubtreeComs	If true, the algorithm computes also the center of mass of the subtrees.

changeReferenceFrame() [1/2]

void pinocchio::changeReferenceFrame	(	const SE3Tpl< Scalar, Options > &	placement,
		const ForceDense< ForceIn > &	f_in,
		const ReferenceFrame	rf_in,
		const ReferenceFrame	rf_out,
		ForceDense< ForceOut > &	f_out
	)

[out] f_out Resulting force quantity.

Definition at line 19 of file force.hpp.

changeReferenceFrame() [2/2]

void pinocchio::changeReferenceFrame	(	const SE3Tpl< Scalar, Options > &	placement,
		const MotionDense< MotionIn > &	m_in,
		const ReferenceFrame	rf_in,
		const ReferenceFrame	rf_out,
		MotionDense< MotionOut > &	m_out
	)

[out] m_out Resulting motion quantity.

Definition at line 20 of file motion.hpp.

checkData()

bool pinocchio::checkData ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data  )

inline

Check the validity of data wrt to model, in particular if model has been modified.

Parameters

[in]	model	reference model
[in]	data	corresponding data

Returns

True if data is valid wrt model.

checkModelFileExtension()

ModelFileExtensionType pinocchio::checkModelFileExtension ( const std::string &  filename )

inline

Extract the type of the given model file according to its extension.

Parameters

[in]

filename

The complete path to the model file.

Returns

The type of the extension of the model file

Definition at line 39 of file utils.hpp.

checkVersionAtLeast()

bool pinocchio::checkVersionAtLeast ( unsigned int  major_version, unsigned int  minor_version, unsigned int  patch_version  )

inline

Checks if the current version of Pinocchio is at least the version provided by the input arguments.

Parameters

[in]	major_version	Major version to check.
[in]	minor_version	Minor version to check.
[in]	patch_version	Patch version to check.

Returns

true if the current version of Pinocchio is greater than the version provided by the input arguments.

Definition at line 40 of file version.hpp.

classicAcceleration() [1/4]

Motion2::Vector3 pinocchio::classicAcceleration ( const MotionDense< Motion1 > &  spatial_velocity, const MotionDense< Motion2 > &  spatial_acceleration  )

inline

Computes the classic acceleration from a given spatial velocity and spatial acceleration.

 

Template Parameters

Motion1	type of the input spatial velocity.
Motion2	type of the input spatial acceleration.

Parameters

[in]	spatial_velocity	input spatial velocity.
[in]	spatial_acceleration	input spatial acceleration.

Remarks

To be valid, the spatial velocity and the spatial acceleration have to be expressed at the same Frame.

Definition at line 52 of file classic-acceleration.hpp.

classicAcceleration() [2/4]

void pinocchio::classicAcceleration ( const MotionDense< Motion1 > &  spatial_velocity, const MotionDense< Motion2 > &  spatial_acceleration, const Eigen::MatrixBase< Vector3Like > &  res  )

inline

Computes the classic acceleration from a given spatial velocity and spatial acceleration.

 

Template Parameters

Motion1	type of the input spatial velocity.
Motion2	type of the input spatial acceleration.
Vector3Like	type of the return type (a type similar to a 3D vector).

Parameters

[in]	spatial_velocity	input spatial velocity.
[in]	spatial_acceleration	input spatial acceleration.
[out]	res	computed classic acceleration.

Remarks

To be valid, the spatial velocity and the spatial acceleration have to be expressed at the same Frame.

Definition at line 29 of file classic-acceleration.hpp.

classicAcceleration() [3/4]

Motion2::Vector3 pinocchio::classicAcceleration ( const MotionDense< Motion1 > &  spatial_velocity, const MotionDense< Motion2 > &  spatial_acceleration, const SE3Tpl< SE3Scalar, SE3Options > &  placement  )

inline

Computes the classic acceleration of a given frame B knowing the spatial velocity and spatial acceleration of a frame A and the relative placement between these two frames.

 

Template Parameters

Motion1	type of the input spatial velocity.
Motion2	type of the input spatial acceleration.
SE3Scalar	Scalar type of the SE3 object.
SE3Options	Options of the SE3 object.

Parameters

[in]	spatial_velocity	input spatial velocity.
[in]	spatial_acceleration	input spatial acceleration.
[in]	placement	relative placement betwen the frame A and the frame B.

Definition at line 118 of file classic-acceleration.hpp.

classicAcceleration() [4/4]

void pinocchio::classicAcceleration ( const MotionDense< Motion1 > &  spatial_velocity, const MotionDense< Motion2 > &  spatial_acceleration, const SE3Tpl< SE3Scalar, SE3Options > &  placement, const Eigen::MatrixBase< Vector3Like > &  res  )

inline

Computes the classic acceleration of a given frame B knowing the spatial velocity and spatial acceleration of a frame A and the relative placement between these two frames.

 

Template Parameters

Motion1	type of the input spatial velocity.
Motion2	type of the input spatial acceleration.
SE3Scalar	Scalar type of the SE3 object.
SE3Options	Options of the SE3 object.
Vector3Like	type of the return type (a type similar to a 3D vector).

Parameters

[in]	spatial_velocity	input spatial velocity.
[in]	spatial_acceleration	input spatial acceleration.
[in]	placement	relative placement betwen the frame A and the frame B.
[out]	res	computed classic acceleration.

Definition at line 84 of file classic-acceleration.hpp.

computeABADerivatives() [1/8]

void pinocchio::computeABADerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

The derivatives of the Articulated-Body algorithm. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

See also

pinocchio::aba

computeABADerivatives() [2/8]

void pinocchio::computeABADerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const container::aligned_vector< ForceTpl< Scalar, Options >> &	fext
	)

The derivatives of the Articulated-Body algorithm with external forces. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).

Note

aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

See also

pinocchio::aba

computeABADerivatives() [3/8]

void pinocchio::computeABADerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const container::aligned_vector< ForceTpl< Scalar, Options >> &	fext,
		const Eigen::MatrixBase< MatrixType1 > &	aba_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	aba_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	aba_partial_dtau
	)

The derivatives of the Articulated-Body algorithm with external forces. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden.

Template Parameters

JointCollection	Collection of Joint types.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).
[out]	aba_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	aba_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	aba_partial_dtau	Partial derivative of the generalized torque vector with respect to the joint torque.

Note

aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

See also

pinocchio::aba

computeABADerivatives() [4/8]

std::enable_if< ConfigVectorType::IsVectorAtCompileTime || TangentVectorType1::IsVectorAtCompileTime || TangentVectorType2::IsVectorAtCompileTime, void>::type pinocchio::computeABADerivatives	(	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
	)

The derivatives of the Articulated-Body algorithm.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).

Returns

The results are stored in data.ddq_dq, data.ddq_dv and data.Minv which respectively correspond to the partial derivatives of the joint acceleration vector with respect to the joint configuration, velocity and torque. And as for pinocchio::computeMinverse, only the upper triangular part of data.Minv is filled.

See also

pinocchio::aba and

pinocchio::computeABADerivatives.

computeABADerivatives() [5/8]

void pinocchio::computeABADerivatives	(	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< ForceTpl< Scalar, Options >> &	fext
	)

The derivatives of the Articulated-Body algorithm with external forces.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).

Returns

The results are stored in data.ddq_dq, data.ddq_dv and data.Minv which respectively correspond to the partial derivatives of the joint acceleration vector with respect to the joint configuration, velocity and torque. And as for pinocchio::computeMinverse, only the upper triangular part of data.Minv is filled.

See also

pinocchio::aba and

pinocchio::computeABADerivatives.

computeABADerivatives() [6/8]

void pinocchio::computeABADerivatives	(	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< ForceTpl< Scalar, Options >> &	fext,
		const Eigen::MatrixBase< MatrixType1 > &	aba_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	aba_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	aba_partial_dtau
	)

The derivatives of the Articulated-Body algorithm with external forces.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).
[out]	aba_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	aba_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	aba_partial_dtau	Partial derivative of the generalized torque vector with respect to the joint torque.

Note

aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

See also

pinocchio::aba

computeABADerivatives() [7/8]

void pinocchio::computeABADerivatives	(	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 Eigen::MatrixBase< MatrixType1 > &	aba_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	aba_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	aba_partial_dtau
	)

The derivatives of the Articulated-Body algorithm.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[out]	aba_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	aba_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	aba_partial_dtau	Partial derivative of the generalized torque vector with respect to the joint torque.

Note

aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

See also

pinocchio::aba

computeABADerivatives() [8/8]

std::enable_if< !(MatrixType1::IsVectorAtCompileTime || MatrixType2::IsVectorAtCompileTime || MatrixType3::IsVectorAtCompileTime), void>::type pinocchio::computeABADerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< MatrixType1 > &	aba_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	aba_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	aba_partial_dtau
	)

The derivatives of the Articulated-Body algorithm. This function exploits the internal computations made in pinocchio::aba to significantly reduced the computation burden.

Template Parameters

JointCollection	Collection of Joint types.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint torque vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[out]	aba_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	aba_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	aba_partial_dtau	Partial derivative of the generalized torque vector with respect to the joint torque.

Note

aba_partial_dtau is in fact nothing more than the inverse of the joint space inertia matrix.

See also

pinocchio::aba

computeAllTerms()

void pinocchio::computeAllTerms	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes efficiently all the terms needed for dynamic simulation. It is equivalent to the call at the same time to:

• pinocchio::forwardKinematics
• pinocchio::crba
• pinocchio::nonLinearEffects
• pinocchio::computeJointJacobians
• pinocchio::centerOfMass
• pinocchio::jacobianCenterOfMass
• pinocchio::ccrba
• pinocchio::computeKineticEnergy
• pinocchio::computePotentialEnergy
• pinocchio::computeGeneralizedGravity

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

All the results are stored in data. Please refer to the specific algorithm for further details.

computeBodyRadius()

void pinocchio::computeBodyRadius	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data
	)

Compute the radius of the geometry volumes attached to every joints.

Parameters

[in]	model	Kinematic model of the system
[in]	geom_model	Geometry model of the system
[out]	geom_data	Geometry data of the system

See also

GeometryData::radius

computeCentroidalDynamicsDerivatives()

void pinocchio::computeCentroidalDynamicsDerivatives	(	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 > &	a,
		const Eigen::MatrixBase< Matrix6xLike0 > &	dh_dq,
		const Eigen::MatrixBase< Matrix6xLike1 > &	dhdot_dq,
		const Eigen::MatrixBase< Matrix6xLike2 > &	dhdot_dv,
		const Eigen::MatrixBase< Matrix6xLike3 > &	dhdot_da
	)

Computes the analytical derivatives of the centroidal dynamics with respect to the joint configuration vector, velocity and acceleration.

Computes the first order approximation of the centroidal dynamics time derivative and corresponds to the following equation \( d\dot{h_{g}} = \frac{\partial \dot{h_{g}}}{\partial \mathbf{q}} d\mathbf{q} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{v}} d\mathbf{v} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{a}} d\mathbf{a} \)

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[out]	dh_dq	The partial derivative of the centroidal momentum with respect to the configuration vector (dim 6 x model.nv).
[out]	dhdot_dq	The partial derivative of the centroidal dynamics with respect to the configuration vector (dim 6 x model.nv).
[out]	dhdot_dv	The partial derivative of the centroidal dynamics with respect to the velocity vector (dim 6 x model.nv).
[out]	dhdot_da	The partial derivative of the centroidal dynamics with respect to the acceleration vector (dim 6 x model.nv).

Returns

It also computes the current centroidal dynamics and its time derivative. For information, the centroidal momentum matrix is equivalent to dhdot_da.

computeCentroidalMap()

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x& pinocchio::computeCentroidalMap	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

Computes the Centroidal Momentum Matrix.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The Centroidal Momentum Matrix Ag.

Remarks

As another output, this algorithm also computes the Joint Jacobian matrix (accessible via data.J).

computeCentroidalMapTimeVariation()

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x& pinocchio::computeCentroidalMapTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the Centroidal Momentum Matrix time derivative.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The Centroidal Momentum Matrix time derivative dAg (accessible via data.dAg).

Remarks

As another output, this algorithm also computes the Centroidal Momentum Matrix Ag (accessible via data.Ag), the Joint Jacobian matrix (accessible via data.J) and the time derivatibe of the Joint Jacobian matrix (accessible via data.dJ).

computeCentroidalMomentum() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The centroidal momenta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

computeCentroidalMomentum() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The centroidal momenta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

computeCentroidalMomentumTimeVariation() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentumTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The centroidal momenta time derivative (stored in data.dhg), centroidal momemta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

computeCentroidalMomentumTimeVariation() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentumTimeVariation	(	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 > &	a
	)

Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass.

Template Parameters

Scalar	The scalar type.
Options	Eigen Alignment options.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns

The centroidal momenta time derivative (stored in data.dhg), centroidal momemta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])

computeCollision() [1/2]

bool pinocchio::computeCollision	(	const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const PairIndex	pair_id
	)

Compute the collision status between a SINGLE collision pair. The result is store in the collisionResults vector.

Parameters

[in]	GeomModel	the geometry model (const)
[out]	GeomData	the corresponding geometry data, where computations are done.
[in]	pair_id	The collsion pair index in the GeometryModel.

Returns

Return true is the collision objects are colliding.

Note

The complete collision result is also available in geom_data.collisionResults[pair_id]

computeCollision() [2/2]

bool pinocchio::computeCollision	(	const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const PairIndex	pair_id,
		fcl::CollisionRequest &	collision_request
	)

Compute the collision status between a SINGLE collision pair. The result is store in the collisionResults vector.

Parameters

[in]	GeomModel	the geometry model (const)
[out]	GeomData	the corresponding geometry data, where computations are done.
[in]	pair_id	The collsion pair index in the GeometryModel.
[in]	collision_request	The collision request associated to the collision pair.

Returns

Return true is the collision objects are colliding.

Note

The complete collision result is also available in geom_data.collisionResults[pair_id]

computeCollisions() [1/6]

bool pinocchio::computeCollisions	(	BroadPhaseManagerBase< BroadPhaseManagerDerived > &	broadphase_manager,
		CollisionCallBackBase *	callback
	)

Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements and broadphase_manager.update() have been called first.

Parameters

[in]	broadphase_manager	broadphase instance for collision detection.
[in]	callback	callback pointer used for collision detection.
[in]	stopAtFirstCollision	if true, stop the loop over the collision pairs when the first collision is detected.

Warning

if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).

Definition at line 34 of file broadphase.hpp.

computeCollisions() [2/6]

bool pinocchio::computeCollisions	(	BroadPhaseManagerBase< BroadPhaseManagerDerived > &	broadphase_manager,
		const bool	stopAtFirstCollision = false
	)

Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements and broadphase_manager.update() have been called first.

Parameters

[in]	broadphase_manager	broadphase instance for collision detection.
[in]	stopAtFirstCollision	if true, stop the loop over the collision pairs when the first collision is detected.

Warning

if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).

Definition at line 57 of file broadphase.hpp.

computeCollisions() [3/6]

bool pinocchio::computeCollisions	(	const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const bool	stopAtFirstCollision = false
	)

Calls computeCollision for every active pairs of GeometryData. This function assumes that updateGeometryPlacements has been called first.

Parameters

[in]	geom_model	geometry model (const)
[out]	geom_data	corresponding geometry data (nonconst) where collisions are computed
[in]	stopAtFirstCollision	if true, stop the loop over the collision pairs when the first collision is detected.

Warning

if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).

computeCollisions() [4/6]

bool pinocchio::computeCollisions ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, BroadPhaseManagerBase< BroadPhaseManagerDerived > &  broadphase_manager, CollisionCallBackBase *  callback, const Eigen::MatrixBase< ConfigVectorType > &  q  )

inline

Compute the forward kinematics, update the geometry placements and run the collision detection using the broadphase manager.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	robot model (const)
[out]	data	corresponding data (nonconst) where the forward kinematics results are stored
[in]	broadphase_manager	broadphase manager for collision detection.
[in]	callback	callback pointer used for collision detection.///
[in]	q	robot configuration.
[in]	stopAtFirstCollision	if true, stop the loop over the collision pairs when the first collision is detected.

Warning

if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).

Note

A similar function is available without model, data and q, not recomputing the forward kinematics.

Definition at line 95 of file broadphase.hpp.

computeCollisions() [5/6]

bool pinocchio::computeCollisions ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, BroadPhaseManagerBase< BroadPhaseManagerDerived > &  broadphase_manager, const Eigen::MatrixBase< ConfigVectorType > &  q, const bool  stopAtFirstCollision = false  )

inline

Compute the forward kinematics, update the geometry placements and run the collision detection using the broadphase manager.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	robot model (const)
[out]	data	corresponding data (nonconst) where the forward kinematics results are stored
[in]	broadphase_manager	broadphase manager for collision detection.
[in]	q	robot configuration.
[in]	stopAtFirstCollision	if true, stop the loop over the collision pairs when the first collision is detected.

Warning

if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).

Note

A similar function is available without model, data and q, not recomputing the forward kinematics.

Definition at line 135 of file broadphase.hpp.

computeCollisions() [6/6]

bool pinocchio::computeCollisions	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const bool	stopAtFirstCollision = false
	)

Compute the forward kinematics, update the geometry placements and calls computeCollision for every active pairs of GeometryData.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	robot model (const)
[out]	data	corresponding data (nonconst) where the forward kinematics results are stored
[in]	geom_model	geometry model (const)
[out]	geom_data	corresponding geometry data (nonconst) where distances are computed
[in]	q	robot configuration.
[in]	stopAtFirstCollision	if true, stop the loop over the collision pairs when the first collision is detected.

Warning

if stopAtFirstcollision = true, then the collisions vector will not be entirely fulfilled (of course).

Note

A similar function is available without model, data and q, not recomputing the forward kinematics.

computeContactImpulses()

const DataTpl<Scalar, Options, JointCollectionTpl>:: TangentVectorType& pinocchio::computeContactImpulses	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< VectorLikeC > &	c_ref,
		const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &	contact_models,
		std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &	contact_datas,
		const std::vector< CoulombFrictionConeTpl< Scalar >, CoulombFrictionConelAllocator > &	cones,
		const Eigen::MatrixBase< VectorLikeR > &	R,
		const Eigen::MatrixBase< VectorLikeGamma > &	constraint_correction,
		ProximalSettingsTpl< Scalar > &	settings,
		const boost::optional< VectorLikeImp > &	impulse_guess = boost::none
	)

Compute the contact impulses given a target velocity of contact points.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	c_ref	The contact point velocity
[in]	contact_models	The list of contact models.
[in]	contact_datas	The list of contact_datas.
[in]	cones	list of friction cones.
[in]	R	vector representing the diagonal of the compliance matrix.
[in]	constraint_correction	vector representing the constraint correction.
[in]	settings	The settings for the proximal algorithm.
[in]	impulse_guess	initial guess for the contact impulses.

Returns

The desired joint torques stored in data.tau.

Definition at line 57 of file contact-inverse-dynamics.hpp.

computeCoriolisMatrix()

const DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs& pinocchio::computeCoriolisMatrix	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the Coriolis Matrix \( C(q,\dot{q}) \) of the Lagrangian dynamics:

\( \begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray} \)

Note

In the previous equation, \( c(q, \dot{q}) = C(q, \dot{q})\dot{q} \).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The Coriolis matrix stored in data.C.

computeDampedDelassusMatrixInverse()

void pinocchio::computeDampedDelassusMatrixInverse	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &	contact_models,
		std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &	contact_data,
		const Eigen::MatrixBase< MatrixType > &	damped_delassus_inverse,
		const Scalar	mu,
		const bool	scaled = false,
		const bool	Pv = true
	)

Computes the inverse of the Delassus matrix associated to a set of given constraints.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
ModelAllocator	Allocator class for the std::vector.
DataAllocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (size model.nq).
[in]	contact_models	Vector of contact models.
[in]	contact_datas	Vector of contact data.
[out]	damped_delassus_inverse	The resulting damped Delassus matrix.
[in]	mu	Damping factor well-posdnessed of the problem.
[in]	scaled	If set to true, the solution is scaled my a factor \( \mu \) to avoid numerical rounding issues.
[in]	Pv	If set to true, uses PV-OSIMr, otherwise uses EFPA.

Note

A hint: a typical value for mu is 1e-4 when two contact constraints or more are redundant.

Returns

The damped inverse Delassus matrix.

computeDelassusMatrix()

void pinocchio::computeDelassusMatrix	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const std::vector< RigidConstraintModelTpl< Scalar, Options >, ModelAllocator > &	contact_models,
		std::vector< RigidConstraintDataTpl< Scalar, Options >, DataAllocator > &	contact_data,
		const Eigen::MatrixBase< MatrixType > &	delassus,
		const Scalar	mu = 0
	)

Computes the Delassus matrix associated to a set of given constraints.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
ModelAllocator	Allocator class for the std::vector.
DataAllocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (size model.nq).
[in]	contact_models	Vector of contact models.
[in]	contact_datas	Vector of contact data.
[out]	delassus	The resulting Delassus matrix.
[in]	mu	Optional damping factor used when computing the inverse of the Delassus matrix.

Returns

The (damped) Delassus matrix.

computeDistance()

fcl::DistanceResult& pinocchio::computeDistance	(	const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const PairIndex	pair_id
	)

Compute the minimal distance between collision objects of a SINGLE collison pair.

Parameters

[in]	GeomModel	the geometry model (const)
[out]	GeomData	the corresponding geometry data, where computations are done.
[in]	pair_id	The index of the collision pair in geom model.

Returns

A reference on fcl struct containing the distance result, referring an element of vector geom_data::distanceResults.

Note

The complete distance result is also available in geom_data.distanceResults[pair_id]

computeDistances() [1/3]

std::size_t pinocchio::computeDistances	(	const GeometryModel &	geom_model,
		GeometryData &	geom_data
	)

Compute the minimal distance between collision objects of a ALL collison pair.

Parameters

[in]	GeomModel	the geometry model (const)
[out]	GeomData	the corresponding geometry data, where computations are done.

Returns

Index of the minimal pair distance in geom_data.DistanceResult

Note

The complete distance result is available by pair in geom_data.distanceResults

computeDistances() [2/3]

std::size_t pinocchio::computeDistances	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data
	)

Update the geometry placements and calls computeDistance for every active pairs of GeometryData.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	robot model (const)
[in]	data	corresponding data (nonconst) where FK results are stored
[in]	geom_model	geometry model (const)
[out]	geom_data	corresponding geometry data (nonconst) where distances are computed

Note

A similar function is available without model, data and q, not recomputing the FK.

computeDistances() [3/3]

std::size_t pinocchio::computeDistances	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const GeometryModel &	geom_model,
		GeometryData &	geom_data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

Compute the forward kinematics, update the geometry placements and calls computeDistance for every active pairs of GeometryData.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	robot model (const)
[in]	data	corresponding data (nonconst) where FK results are stored
[in]	geom_model	geometry model (const)
[out]	geom_data	corresponding geometry data (nonconst) where distances are computed
[in]	q	robot configuration.

Note

A similar function is available without model, data and q, not recomputing the FK.

computeForwardKinematicsDerivatives()

void pinocchio::computeForwardKinematicsDerivatives	(	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 > &	a
	)

Computes all the terms required to compute the derivatives of the placement, spatial velocity and acceleration for any joint of the model.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).

Remarks

This function is similar to do a forwardKinematics(model,data,q,v) followed by a computeJointJacobians(model,data,q). In addition, it computes the spatial velocity of the joint expressed in the world frame (see data.ov).

computeFrameJacobian() [1/2]

void pinocchio::computeFrameJacobian ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const FrameIndex  frameId, const Eigen::MatrixBase< Matrix6xLike > &  J  )

inline

Computes the Jacobian of a specific Frame expressed in the LOCAL frame coordinate system.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	frameId	The id of the Frame refering to model.frames[frameId].
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns

The Jacobian of the specific Frame expressed in the LOCAL frame coordinate system (matrix 6 x model.nv).

Remarks

The result of this function is equivalent to call first computeJointJacobians(model,data,q), then updateFramePlacements(model,data) and then call getJointJacobian(model,data,jointId,LOCAL,J), but forwardKinematics and updateFramePlacements are not fully computed.

Definition at line 481 of file frames.hpp.

computeFrameJacobian() [2/2]

void pinocchio::computeFrameJacobian ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const FrameIndex  frameId, const ReferenceFrame  reference_frame, const Eigen::MatrixBase< Matrix6xLike > &  J  )

inline

Computes the Jacobian of a specific Frame expressed in the desired reference_frame given as argument.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	frameId	The id of the Frame refering to model.frames[frameId].
[in]	reference_frame	Reference frame in which the Jacobian is expressed.
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns

The Jacobian of the specific Frame expressed in the desired reference frame (matrix 6 x model.nv).

Remarks

The result of this function is equivalent to call first computeJointJacobians(model,data,q), then updateFramePlacements(model,data) and then call getJointJacobian(model,data,jointId,rf,J), but forwardKinematics and updateFramePlacements are not fully computed.

computeFrameKinematicRegressor() [1/2]

DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x pinocchio::computeFrameKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf
	)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input.

Remarks

It assumes that the framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frame_id	Index of the frame.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

Definition at line 154 of file regressor.hpp.

computeFrameKinematicRegressor() [2/2]

void pinocchio::computeFrameKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xReturnType > &	kinematic_regressor
	)

Remarks

It assumes that the framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frame_id	Index of the frame.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[out]	kinematic_regressor	The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.

computeGeneralizedGravity()

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::computeGeneralizedGravity	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

Computes the generalized gravity contribution \( g(q) \) of the Lagrangian dynamics:

\( \begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray} \)

Note

This function is equivalent to pinocchio::rnea(model, data, q, 0, 0).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The generalized gravity torque stored in data.g.

computeGeneralizedGravityDerivatives()

void pinocchio::computeGeneralizedGravityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< ReturnMatrixType > &	gravity_partial_dq
	)

Computes the partial derivative of the generalized gravity contribution with respect to the joint configuration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
ReturnMatrixType	Type of the matrix containing the partial derivative of the gravity vector with respect to the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[out]	gravity_partial_dq	Partial derivative of the generalized gravity vector with respect to the joint configuration.

Remarks

gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).

See also

pinocchio::computeGeneralizedGravity

computeJointJacobian()

void pinocchio::computeJointJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const JointIndex	joint_id,
		const Eigen::MatrixBase< Matrix6Like > &	J
	)

Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store the result in the input argument J.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	joint_id	The id of the joint refering to model.joints[jointId].
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.setZero().

Returns

The Jacobian of the specific joint frame expressed in the local frame of the joint (matrix 6 x model.nv).

Remarks

The result of this function is equivalent to call first computeJointJacobians(model,data,q) and then call getJointJacobian(model,data,jointId,LOCAL,J), but forwardKinematics is not fully computed. It is worth to call jacobian if you only need a single Jacobian for a specific joint. Otherwise, for several Jacobians, it is better to call computeJointJacobians(model,data,q) followed by getJointJacobian(model,data,jointId,LOCAL,J) for each Jacobian.

computeJointJacobians() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x& pinocchio::computeJointJacobians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function assumes that pinocchio::forwardKinematics has been called before.

Note

This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame.

See also

pinocchio::getJointJacobian for doing this specific extraction.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The full model Jacobian (matrix 6 x model.nv).

computeJointJacobians() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x& pinocchio::computeJointJacobians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function computes also the forwardKinematics of the model.

Note

This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame.

See also

pinocchio::getJointJacobian for doing this specific extraction.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The full model Jacobian (matrix 6 x model.nv).

computeJointJacobiansTimeVariation()

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x& pinocchio::computeJointJacobiansTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depends both on q and v. The result is accessible through data.dJ.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The full model Jacobian (matrix 6 x model.nv).

computeJointKinematicHessians() [1/2]

void pinocchio::computeJointKinematicHessians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See computeJointJacobians for such a function.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Remarks

This function is also related to

See also

getJointKinematicHessian.

computeJointKinematicHessians() [2/2]

void pinocchio::computeJointKinematicHessians	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).

Remarks

This function is also related to

See also

getJointKinematicHessian.

Definition at line 352 of file kinematics-derivatives.hpp.

computeJointKinematicRegressor() [1/4]

DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf
	)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input.

Remarks

It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

Definition at line 104 of file regressor.hpp.

computeJointKinematicRegressor() [2/4]

void pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xReturnType > &	kinematic_regressor
	)

Remarks

It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[out]	kinematic_regressor	The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.

computeJointKinematicRegressor() [3/4]

DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf,
		const SE3Tpl< Scalar, Options > &	placement
	)

Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame.

Remarks

It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[in]	placement	Relative placement to the joint frame.

Definition at line 53 of file regressor.hpp.

computeJointKinematicRegressor() [4/4]

void pinocchio::computeJointKinematicRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	rf,
		const SE3Tpl< Scalar, Options > &	placement,
		const Eigen::MatrixBase< Matrix6xReturnType > &	kinematic_regressor
	)

Remarks

It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint.
[in]	rf	Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).
[in]	placement	Relative placement to the joint frame.
[out]	kinematic_regressor	The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.

computeJointTorqueRegressor()

DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs& pinocchio::computeJointTorqueRegressor ( 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 > &  a  )

inline

Computes the joint torque regressor that links the joint torque to the dynamic parameters of each link according to the current the robot motion.

The result is stored in data.jointTorqueRegressor and it corresponds to a matrix \( Y \) such that \( \tau = Y(q,\dot{q},\ddot{q})\pi \) where \( \pi = (\pi_1^T\ \dots\ \pi_n^T)^T \) and \( \pi_i = \text{model.inertias[i].toDynamicParameters()} \)

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns

The joint torque regressor of the system.

Warning

This function writes temporary information in data.bodyRegressor. This means if you have valuable data in it it will be overwritten.

computeKineticEnergy() [1/2]

Scalar pinocchio::computeKineticEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The kinetic energy of the system in [J].

computeKineticEnergy() [2/2]

Scalar pinocchio::computeKineticEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The kinetic energy of the system in [J].

computeKKTContactDynamicMatrixInverse()

void pinocchio::computeKKTContactDynamicMatrixInverse	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Eigen::MatrixBase< KKTMatrixType > &	KKTMatrix_inv,
		const Scalar &	inv_damping = 0.
	)

Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix:

\( \left[\begin{matrix}\mathbf{M}^{-1}-\mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & \mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1} \\ \widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & -\widehat{\mathbf{M}}^{-1}\end{matrix}\right] \)

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	J	Jacobian of the constraints.
[out]	KKTMatrix_inv	inverse of the MJtJ matrix.
[in]	inv_damping	regularization coefficient.

computeLargestEigenvector() [1/2]

void pinocchio::computeLargestEigenvector	(	const MatrixLike &	mat,
		const Eigen::PlainObjectBase< VectorLike > &	_eigenvector_est,
		const int	max_it = 10,
		const typename MatrixLike::Scalar	rel_tol = 1e-8
	)

Compute the lagest eigenvector of a given matrix according to a given eigenvector estimate.

 

Definition at line 138 of file eigenvalues.hpp.

computeLargestEigenvector() [2/2]

Eigen::Matrix<typename MatrixLike::Scalar, MatrixLike::RowsAtCompileTime, 1> pinocchio::computeLargestEigenvector	(	const MatrixLike &	mat,
		const int	max_it = 10,
		const typename MatrixLike::Scalar	rel_tol = 1e-8
	)

Compute the lagest eigenvector of a given matrix.

 

Definition at line 154 of file eigenvalues.hpp.

computeLowestEigenvector() [1/2]

Eigen::Matrix<typename MatrixLike::Scalar, MatrixLike::RowsAtCompileTime, 1> pinocchio::computeLowestEigenvector	(	const MatrixLike &	mat,
		const bool	compute_largest = true,
		const int	max_it = 10,
		const typename MatrixLike::Scalar	rel_tol = 1e-8
	)

Compute the lagest eigenvector of a given matrix.

 

Definition at line 188 of file eigenvalues.hpp.

computeLowestEigenvector() [2/2]

void pinocchio::computeLowestEigenvector	(	const MatrixLike &	mat,
		const Eigen::PlainObjectBase< VectorLike1 > &	largest_eigenvector_est,
		const Eigen::PlainObjectBase< VectorLike2 > &	lowest_eigenvector_est,
		const bool	compute_largest = true,
		const int	max_it = 10,
		const typename MatrixLike::Scalar	rel_tol = 1e-8
	)

Compute the lagest eigenvector of a given matrix according to a given eigenvector estimate.

 

Definition at line 168 of file eigenvalues.hpp.

computeMechanicalEnergy() [1/2]

Scalar pinocchio::computeMechanicalEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes the mechanical energy of the system stored in data.mechanical_energy. The result is accessible through data.kinetic_energy.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The total mechanal energy of the system in [J].

computeMechanicalEnergy() [2/2]

Scalar pinocchio::computeMechanicalEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the mechanical energy of the system stored in data.mechanical_energy. The result is accessible through data.kinetic_energy.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The total mechanal energy of the system in [J]. The fonctions also computes the data.kinetic_energy and data.potential_energy.

computeMinverse() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs& pinocchio::computeMinverse	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes the inverse of the joint space inertia matrix using Articulated Body formulation. Compared to the complete signature computeMinverse<Scalar,Options,ConfigVectorType>, this version assumes that ABA has been called first.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The inverse of the joint space inertia matrix stored in data.ddq.

computeMinverse() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs& pinocchio::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.

Remarks

Only the upper triangular part of the matrix is filled.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The inverse of the joint space inertia matrix stored in data.Minv.

computePotentialEnergy() [1/2]

Scalar pinocchio::computePotentialEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy.

Template Parameters

JointCollection

Collection of Joint types.

Note

This potential energy are of the for \( \sum_{i} - m_{i}gh_{i} \) where:

• \( m_{i} \) is the mass of the body \( i \),
• \( h_{i} \) is the height of the body \( i \),
• \( g \) is the gravity value.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The potential energy of the system expressed in [J].

computePotentialEnergy() [2/2]

Scalar pinocchio::computePotentialEnergy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Note

This potential energy are of the for \( \sum_{i} - m_{i}gh_{i} \) where:

• \( m_{i} \) is the mass of the body \( i \),
• \( h_{i} \) is the height of the body \( i \),
• \( g \) is the gravity value.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The potential energy of the system expressed in [J].

computePotentialEnergyRegressor()

const DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs& pinocchio::computePotentialEnergyRegressor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

\brief Computes the kinetic energy regressor that links the kinetic energy of the system to
the dynamic parameters of each link according to the current robot motion.

The result is stored in `data.kineticEnergyRegressor` and it corresponds to a matrix
\f$ Y_e \f$ such that \f$ K = Y_e(q,\dot{q})\pi \f$ where
\pi_i = \text{model.inertias[i].toDynamicParameters()} \f$

\tparam JointCollection Collection of Joint types.
\tparam ConfigVectorType Type of the joint configuration vector.
\tparam TangentVectorType Type of the joint velocity vector.

\param[in] model The model structure of the rigid body system.
\param[in] data The data structure of the rigid body system.
\param[in] q The joint configuration vector (dim model.nq).
\param[in] v The joint velocity vector (dim model.nv).

\return The kinetic energy regressor of the system.

template< typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs & computeKineticEnergyRegressor( const ModelTpl<Scalar, Options, JointCollectionTpl> & model, DataTpl<Scalar, Options, JointCollectionTpl> & data, const Eigen::MatrixBase<ConfigVectorType> & q, const Eigen::MatrixBase<TangentVectorType> & v);

\brief Computes the potential energy regressor that links the potential energy
of the system to the dynamic parameters of each link according to the current robot motion.

The result is stored in `data.potentialEnergyRegressor` and it corresponds to a matrix
\f$ Y_p \f$ such that \f$ P = Y_p(q)\pi \f$ where
\pi_i = \text{model.inertias[i].toDynamicParameters()} \f$

\tparam JointCollection Collection of Joint types.
\tparam ConfigVectorType Type of the joint configuration vector.

\param[in] model The model structure of the rigid body system.
\param[in] data The data structure of the rigid body system.
\param[in] q The joint configuration vector (dim model.nq).

\return The kinetic energy regressor of the system. 

computeRNEADerivatives() [1/4]

void pinocchio::computeRNEADerivatives	(	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 > &	a
	)

Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns

The results are stored in data.dtau_dq, data.dtau_dv and data.M which respectively correspond to the partial derivatives of the joint torque vector with respect to the joint configuration, velocity and acceleration. As for pinocchio::crba, only the upper triangular part of data.M is filled.

See also

pinocchio::rnea, pinocchio::crba, pinocchio::decompose

computeRNEADerivatives() [2/4]

void pinocchio::computeRNEADerivatives	(	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 > &	a,
		const container::aligned_vector< ForceTpl< Scalar, Options >> &	fext
	)

Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).

Returns

The results are stored in data.dtau_dq, data.dtau_dv and data.M which respectively correspond to the partial derivatives of the joint torque vector with respect to the joint configuration, velocity and acceleration. As for pinocchio::crba, only the upper triangular part of data.M is filled.

See also

pinocchio::rnea, pinocchio::crba, pinocchio::decompose

computeRNEADerivatives() [3/4]

void pinocchio::computeRNEADerivatives	(	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 > &	a,
		const container::aligned_vector< ForceTpl< Scalar, Options >> &	fext,
		const Eigen::MatrixBase< MatrixType1 > &	rnea_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	rnea_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	rnea_partial_da
	)

Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).
[out]	rnea_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	rnea_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	rnea_partial_da	Partial derivative of the generalized torque vector with respect to the joint acceleration.

Remarks

rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc). As for pinocchio::crba, only the upper triangular part of rnea_partial_da is filled.

See also

pinocchio::rnea

computeRNEADerivatives() [4/4]

void pinocchio::computeRNEADerivatives	(	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 > &	a,
		const Eigen::MatrixBase< MatrixType1 > &	rnea_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	rnea_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	rnea_partial_da
	)

Computes the partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.
MatrixType1	Type of the matrix containing the partial derivative with respect to the joint configuration vector.
MatrixType2	Type of the matrix containing the partial derivative with respect to the joint velocity vector.
MatrixType3	Type of the matrix containing the partial derivative with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[out]	rnea_partial_dq	Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	rnea_partial_dv	Partial derivative of the generalized torque vector with respect to the joint velocity.
[out]	rnea_partial_da	Partial derivative of the generalized torque vector with respect to the joint acceleration.

Remarks

rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc). As for pinocchio::crba, only the upper triangular part of rnea_partial_da is filled.

See also

pinocchio::rnea

ComputeRNEASecondOrderDerivatives() [1/2]

void pinocchio::ComputeRNEASecondOrderDerivatives ( 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 > &  a  )

inline

Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns

The results are stored in data.d2tau_dqdq, data.d2tau_dvdv, data.d2tau_dqdv, and data.d2tau_dadq which respectively correspond to the Second-Order partial derivatives of the joint torque vector with respect to the joint configuration, velocity and cross Second-Order partial derivatives with respect to configuration/velocity and configuration/acceleration respectively.

Remarks

d2tau_dqdq, d2tau_dvdv2, d2tau_dqdv and d2tau_dadq must be first initialized with zeros (d2tau_dqdq.setZero(),etc). The storage order of the 3D-tensor derivatives is important. For d2tau_dqdq, the elements of generalized torque varies along the rows, while elements of q vary along the columns and pages of the tensor. For d2tau_dqdv, the elements of generalized torque varies along the rows, while elements of v vary along the columns and elements of q along the pages of the tensor. Hence, d2tau_dqdv is essentially d (d tau/dq)/dv, with outer-most derivative representing the third dimension (pages) of the tensor. The tensor d2tau_dadq reduces down to dM/dq, and hence the elements of q vary along the pages of the tensor. In other words, this tensor derivative is d(d tau/da)/dq. All other remaining combinations of second-order derivatives of generalized torque are zero.

See also

Definition at line 140 of file rnea-second-order-derivatives.hpp.

ComputeRNEASecondOrderDerivatives() [2/2]

void pinocchio::ComputeRNEASecondOrderDerivatives ( 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 > &  a, const Tensor1 &  d2tau_dqdq, const Tensor2 &  d2tau_dvdv, const Tensor3 &  dtau_dqdv, const Tensor4 &  dtau_dadq  )

inline

Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithm w.r.t the joint configuration, the joint velocity and the joint acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.
Tensor1	Type of the 3D-Tensor containing the SO partial derivative with respect to the joint configuration vector. The elements of Torque vector are along the 1st dim, and joint config along 2nd,3rd dimensions.
Tensor2	Type of the 3D-Tensor containing the Second-Order partial derivative with respect to the joint velocity vector. The elements of Torque vector are along the 1st dim, and the velocity along 2nd,3rd dimensions.
Tensor3	Type of the 3D-Tensor containing the cross Second-Order partial derivative with respect to the joint configuration and velocty vector. The elements of Torque vector are along the 1st dim, and the config. vector along 2nd dimension, and velocity along the third dimension.
Tensor4	Type of the 3D-Tensor containing the cross Second-Order partial derivative with respect to the joint configuration and acceleration vector. This is also the First-order partial derivative of Mass-Matrix (M) with respect to configuration vector. The elements of Torque vector are along the 1st dim, and the acceleration vector along 2nd dimension, while configuration along the third dimension.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[out]	d2tau_dqdq	Second-Order Partial derivative of the generalized torque vector with respect to the joint configuration.
[out]	d2tau_dvdv	Second-Order Partial derivative of the generalized torque vector with respect to the joint velocity
[out]	dtau_dqdv	Cross Second-Order Partial derivative of the generalized torque vector with respect to the joint configuration and velocity.
[out]	dtau_dadq	Cross Second-Order Partial derivative of the generalized torque vector with respect to the joint configuration and accleration.

Remarks

d2tau_dqdq, d2tau_dvdv, dtau_dqdv and dtau_dadq must be first initialized with zeros (d2tau_dqdq.setZero(), etc). The storage order of the 3D-tensor derivatives is important. For d2tau_dqdq, the elements of generalized torque varies along the rows, while elements of q vary along the columns and pages of the tensor. For dtau_dqdv, the elements of generalized torque varies along the rows, while elements of v vary along the columns and elements of q along the pages of the tensor. Hence, dtau_dqdv is essentially d (d tau/dq)/dv, with outer-most derivative representing the third dimension (pages) of the tensor. The tensor dtau_dadq reduces down to dM/dq, and hence the elements of q vary along the pages of the tensor. In other words, this tensor derivative is d(d tau/da)/dq. All other remaining combinations of second-order derivatives of generalized torque are zero.

See also

computeStaticRegressor()

DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x& pinocchio::computeStaticRegressor ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q  )

inline

Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot.

The result is stored in data.staticRegressor and it corresponds to a matrix \( Y \) such that \( c = Y(q,\dot{q},\ddot{q})\tilde{\pi} \) where \( \tilde{\pi} = (\tilde{\pi}_1^T\ \dots\ \tilde{\pi}_n^T)^T \) and \( \tilde{\pi}_i = \text{model.inertias[i].toDynamicParameters().head<4>()} \)

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The static regressor of the system.

computeStaticTorque()

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::computeStaticTorque	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const container::aligned_vector< ForceTpl< Scalar, Options >> &	fext
	)

Computes the generalized static torque contribution \( g(q) - \sum J(q)^{\top} f_{\text{ext}} \) of the Lagrangian dynamics:

\( \begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau + \sum J(q)^{\top} f_{\text{ext}} \end{eqnarray} \)

. This torque vector accouts for the contribution of the gravity and the external forces.

Note

This function is equivalent to pinocchio::rnea(model, data, q, 0, 0, fext).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).

Returns

The generalized static torque stored in data.tau.

computeStaticTorqueDerivatives()

void pinocchio::computeStaticTorqueDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const container::aligned_vector< ForceTpl< Scalar, Options >> &	fext,
		const Eigen::MatrixBase< ReturnMatrixType > &	static_torque_partial_dq
	)

Computes the partial derivative of the generalized gravity and external forces contributions (a.k.a static torque vector) with respect to the joint configuration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
ReturnMatrixType	Type of the matrix containing the partial derivative of the gravity vector with respect to the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	fext	External forces expressed in the local frame of the joints (dim model.njoints).
[out]	static_torque_partial_dq	Partial derivative of the static torque vector with respect to the joint configuration.

Remarks

gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).

See also

pinocchio::computeGeneralizedTorque

computeSubtreeMasses()

void pinocchio::computeSubtreeMasses	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Compute the mass of each kinematic subtree and store it in data.mass. The element mass[0] corresponds to the total mass of the model.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Note

If you are only interested in knowing the total mass of the model, computeTotalMass will probably be slightly faster.

computeSupportedForceByFrame()

ForceTpl<Scalar, Options> pinocchio::computeSupportedForceByFrame	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id
	)

Computes the force supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The supported force corresponds to the sum of all the forces experienced after the given frame, i.e :

• The inertial forces and gravity (applied on the supported inertia in body)
• The forces applied by child joints
• (The external forces) You must first call pinocchio::rnea to update placements, velocities and efforts values in data structure.

Note

If an external force is applied to the frame parent joint (during rnea), it won't be taken in consideration in this function (it will be considered to be applied before the frame in the joint and not after. However external forces applied to child joints will be taken into account).

Physically speaking, if the robot were to be separated in two parts glued together at that given frame, the supported force represents the internal forces applide from the part after the cut/frame to the part before. This compute what a force-torque sensor would measures if it would be placed at that frame.

The equivalent function for a joint would be to read data.f[joint_id], after having call pinocchio::rnea.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frameId	The index of the frame.

Returns

The computed force.

Warning

pinocchio::rnea should have been called first

computeSupportedInertiaByFrame()

InertiaTpl<Scalar, Options> pinocchio::computeSupportedInertiaByFrame	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		bool	with_subtree
	)

Compute the inertia supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The total supported inertia corresponds to the sum of all the inertia after the given frame, i.e :

• The frame inertia
• The child frames inertia ('Child frames' refers to frames that share the same parent joint and are placed after the given frame)
• The child joints inertia (if with_subtree == true) You must first call pinocchio::forwardKinematics to update placement values in data structure.

Note

Physically speaking, if the robot were to be cut in two parts at that given frame, this supported inertia would represents the inertia of the part that was after the frame. with_subtree determines if the childs joints must be taken into consideration (if true) or only the current joint (if false).

The equivalent function for a joint would be :

• to read data.Ycrb[joint_id], after having called pinocchio::crba (if with_subtree == true).
• to read model.inertia[joint_id] (if with_subtree == false).

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frameId	The index of the frame.
[in]	with_subtree	If false, compute the inertia only inside the frame parent joint if false. If true, include child joints inertia.

Returns

The computed inertia.

Warning

forwardKinematics should have been called first

computeTotalMass() [1/2]

Scalar pinocchio::computeTotalMass ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model )

inline

Compute the total mass of the model and return it.

Parameters

[in]

model

The model structure of the rigid body system.

Returns

Total mass of the model.

computeTotalMass() [2/2]

Scalar pinocchio::computeTotalMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Compute the total mass of the model, put it in data.mass[0] and return it.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Warning

This method does not fill the whole data.mass vector. Only data.mass[0] is updated. If you need the whole data.mass vector to be computed, use computeSubtreeMasses

Returns

Total mass of the model.

constrainedABA()

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::constrainedABA ( 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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ContactModelAllocator > &  contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ContactDataAllocator > &  contact_datas, ProximalSettingsTpl< Scalar > &  settings  )

inline

The constrained Articulated Body Algorithm (constrainedABA). It computes constrained forward dynamics, aka the joint accelerations and constraint forces given the current state, actuation and the constraints on the system. All the quantities are expressed in the LOCAL coordinate systems of the joint frames.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
Allocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	contact_models	Vector of contact models.
[in]	contact_datas	Vector of contact data.
[in]	settings	Proximal settings (mu, accuracy and maximal number of iterations).

Note

A hint: a typical value of mu in proximal settings is 1e-6, and should always be positive. This also overwrites data.f, possibly leaving it in an inconsistent state.

Returns

A reference to the joint acceleration stored in data.ddq. data.lambdaA[0] stores the constraint forces.

constraintDynamics() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::constraintDynamics ( 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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &  contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &  contact_datas  )

inline

Computes the forward dynamics with contact constraints according to a given list of Contact information.

Note

When using forwardDynamics for the first time, you should call first initConstraintDynamics to initialize the internal memory used in the algorithm.

It computes the following problem:

\[ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \]

where \( \ddot{q}_{\text{free}} \) is the free acceleration (i.e. without constraints), \( M \) is the mass matrix, \( J \) the constraint Jacobian and \( \gamma \) is the constraint drift. By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
Allocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (size model.nq).
[in]	v	The joint velocity (size model.nv).
[in]	tau	The joint torque vector (size model.nv).
[in]	contact_models	Vector of contact models.
[in]	contact_datas	Vector of contact data.

Returns

A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.

Definition at line 150 of file constrained-dynamics.hpp.

constraintDynamics() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::constraintDynamics ( 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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &  contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &  contact_datas, ProximalSettingsTpl< Scalar > &  settings  )

inline

Computes the forward dynamics with contact constraints according to a given list of contact information.

Note

When using forwardDynamics for the first time, you should call first initConstraintDynamics to initialize the internal memory used in the algorithm.

It computes the following problem: [

\[ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \]

where \( \ddot{q}_{\text{free}} \) is the free acceleration (i.e. without constraints), \( M \) is the mass matrix, \( J \) the constraint Jacobian and \( \gamma \) is the constraint drift. By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
Allocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (size model.nq).
[in]	v	The joint velocity (size model.nv).
[in]	tau	The joint torque vector (size model.nv).
[in]	contact_models	Vector of contact models.
[in]	contact_datas	Vector of contact data.
[in]	settings	Proximal settings (mu, accuracy and maximal number of iterations).

Note

A hint: a typical value for mu is 1e-12 when two contact constraints are redundant.

Returns

A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.

contactInverseDynamics()

const DataTpl<Scalar, Options, JointCollectionTpl>:: TangentVectorType& pinocchio::contactInverseDynamics	(	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 > &	a,
		Scalar	dt,
		const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &	contact_models,
		std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &	contact_datas,
		const std::vector< CoulombFrictionConeTpl< Scalar >, CoulombFrictionConelAllocator > &	cones,
		const Eigen::MatrixBase< VectorLikeR > &	R,
		const Eigen::MatrixBase< VectorLikeGamma > &	constraint_correction,
		ProximalSettingsTpl< Scalar > &	settings,
		const boost::optional< VectorLikeLam > &	lambda_guess = boost::none
	)

The Contact Inverse Dynamics algorithm. It computes the inverse dynamics in the presence of contacts, aka the joint torques according to the current state of the system and the desired joint accelerations.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	dt	The time step.
[in]	contact_models	The list of contact models.
[in]	contact_datas	The list of contact_datas.
[in]	cones	list of friction cones.
[in]	R	vector representing the diagonal of the compliance matrix.
[in]	constraint_correction	vector representing the constraint correction.
[in]	settings	The settings for the proximal algorithm.
[in]	lambda_guess	initial guess for the contact forces.

Returns

The desired joint torques stored in data.tau.

Definition at line 192 of file contact-inverse-dynamics.hpp.

copy()

void copy ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  origin, DataTpl< Scalar, Options, JointCollectionTpl > &  dest, KinematicLevel  kinematic_level  )

inline

Copy part of the data from origin to dest. Template parameter can be used to select at which differential level the copy should occur.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	orig	Data from which the values are copied.
[out]	dest	Data to which the values are copied
[in]	kinematic_level	if =0, copy oMi. If =1, also copy v. If =2, also copy a, a_gf and f.

Definition at line 42 of file copy.hpp.

crba()

const DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs& pinocchio::crba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Convention	convention = Convention::LOCAL
	)

Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M.

Note

You can easily get data.M symmetric by copying the strictly upper triangular part in the strictly lower triangular part with data.M.triangularView<Eigen::StrictlyLower>() = data.M.transpose().triangularView<Eigen::StrictlyLower>();

This algorithm also takes into account the rotor inertia effects, by adding on the diagonal of the Joint Space Inertia Matrix their contributions. This is done only for single DOF joint (e.g. Revolute, Prismatic, etc.).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Note

In WORLD convention, a direct outcome of this algorithm is the computation of the centroidal momentum matrix (data.Ag), a forward geometry and the joint jacobian matrix (data.J).

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	convention	Convention to use.

Returns

The joint space inertia matrix with only the upper triangular part computed.

createData()

JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through CreateData visitor to create a JointDataTpl.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]

jmodel

The JointModelTpl we want to create a data for.

Returns

The created JointDataTpl

cross() [1/2]

Matrix3x pinocchio::cross ( const Eigen::MatrixBase< Vector3 > &  v, const Eigen::MatrixBase< Matrix3x > &  M  )

inline

Applies the cross product onto the columns of M.

Parameters

[in]	v	a vector of dimension 3.
[in]	M	a 3 rows matrix.

Returns

the results of \( [v]_{\times} M \).

Definition at line 256 of file skew.hpp.

cross() [2/2]

void pinocchio::cross ( const Eigen::MatrixBase< Vector3 > &  v, const Eigen::MatrixBase< Matrix3xIn > &  Min, const Eigen::MatrixBase< Matrix3xOut > &  Mout  )

inline

Applies the cross product onto the columns of M.

Parameters

[in]	v	a vector of dimension 3.
[in]	Min	a 3 rows matrix.
[out]	Mout	a 3 rows matrix.

Returns

the results of \( Mout = [v]_{\times} Min \).

Definition at line 228 of file skew.hpp.

dccrba()

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x& pinocchio::dccrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration and velocity vectors.

Note

The computed terms allow to decomposed the spatial momentum variation as following: \( \dot{h} = A_g \ddot{q} + \dot{A_g}(q,\dot{q})\dot{q}\).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The Centroidal Momentum Matrix time derivative dAg (accessible via data.dAg).

Remarks

As another output, this algorithm also computes the Centroidal Momentum Matrix Ag (accessible via data.Ag), the Joint Jacobian matrix (accessible via data.J) and the time derivatibe of the Joint Jacobian matrix (accessible via data.dJ).

dDifference() [1/2]

void pinocchio::dDifference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector1 > &	q0,
		const Eigen::MatrixBase< ConfigVector2 > &	q1,
		const Eigen::MatrixBase< JacobianMatrix > &	J,
		const ArgumentPosition	arg
	)

Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling \( d(q0, q1) \) the difference function, these jacobians satisfy the following relationships in the tangent space:

• Jacobian relative to q0: \( d(q_0 \oplus \delta q_0, q_1) \ominus d(q_0, q_1) = J_{q_0} \delta q_0 + o(\| \delta q_0 \|)\).
• Jacobian relative to q1: \( d(q_0, q_1 \oplus \delta q_1) \ominus d(q_0, q_1) = J_{q_1} \delta q_1 + o(\| \delta q_1 \|)\).

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Joint velocity (size model.nv)
[out]	J	Jacobian of the Difference operation, either with respect to q0 or q1 (size model.nv x model.nv).
[in]	arg	Argument (either q0 or q1) with respect to which the differentiation is performed.

Definition at line 763 of file joint-configuration.hpp.

dDifference() [2/2]

void pinocchio::dDifference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector1 > &	q0,
		const Eigen::MatrixBase< ConfigVector2 > &	q1,
		const Eigen::MatrixBase< JacobianMatrix > &	J,
		const ArgumentPosition	arg
	)

Computes the Jacobian of a small variation of the configuration vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling \( d(q0, q1) \) the difference function, these jacobians satisfy the following relationships in the tangent space:

• Jacobian relative to q0: \( d(q_0 \oplus \delta q_0, q_1) \ominus d(q_0, q_1) = J_{q_0} \delta q_0 + o(\| \delta q_0 \|)\).
• Jacobian relative to q1: \( d(q_0, q_1 \oplus \delta q_1) \ominus d(q_0, q_1) = J_{q_1} \delta q_1 + o(\| \delta q_1 \|)\).

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Joint velocity (size model.nv)
[out]	J	Jacobian of the Difference operation, either with respect to q0 or q1 (size model.nv x model.nv).
[in]	arg	Argument (either q0 or q1) with respect to which the differentiation is performed.

Definition at line 763 of file joint-configuration.hpp.

difference() [1/4]

ConfigVectorIn1 pinocchio::difference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Finial configuration (size model.nq)

Returns

The corresponding velocity (size model.nv)

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Final configuration (size model.nq)

Returns

The corresponding velocity (size model.nv)

Definition at line 1252 of file joint-configuration.hpp.

difference() [2/4]

ConfigVectorIn1 pinocchio::difference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

Parameters

[in]	model	Model of the kinematic tree on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Final configuration (size model.nq)

Returns

The corresponding velocity (size model.nv)

Definition at line 1252 of file joint-configuration.hpp.

difference() [3/4]

void pinocchio::difference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	dvout
	)

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

This function corresponds to the log map of the joint configuration Lie Group. Its output can be interpreted as a difference from the joint configuration space to the Lie algebra \( q_1 \ominus q_0 \).

Parameters

[in]	model	Model of the system on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Desired configuration (size model.nq)
[out]	dvout	The corresponding velocity (size model.nv)

This function corresponds to the log map of the joint configuration Lie Group. Its output can be interpreted as a difference from the joint configuration space to the Lie algebra \( q_1 \ominus q_0 \).

Parameters

[in]	model	Model of the system on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Desired configuration (size model.nq)
[out]	dvout	The corresponding velocity (size model.nv).

Definition at line 199 of file joint-configuration.hpp.

difference() [4/4]

void pinocchio::difference	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	dvout
	)

Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.

This function corresponds to the log map of the joint configuration Lie Group. Its output can be interpreted as a difference from the joint configuration space to the Lie algebra \( q_1 \ominus q_0 \).

Parameters

[in]	model	Model of the system on which the difference operation is performed.
[in]	q0	Initial configuration (size model.nq)
[in]	q1	Desired configuration (size model.nq)
[out]	dvout	The corresponding velocity (size model.nv).

Definition at line 199 of file joint-configuration.hpp.

dIntegrate() [1/3]

void pinocchio::dIntegrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg
	)

Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling \( f(q, v) \) the integrate function, these jacobians satisfy the following relationships in the tangent space:

• Jacobian relative to q: \( f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) \delta q + o(\delta q)\).
• Jacobian relative to v: \( f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v + o(\delta v)\).

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

Definition at line 456 of file joint-configuration.hpp.

dIntegrate() [2/3]

void pinocchio::dIntegrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg,
		const AssignmentOperatorType	op
	)

Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling \( f(q, v) \) the integrate function, these jacobians satisfy the following relationships in the tangent space:

• Jacobian relative to q: \( f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) \delta q + o(\delta q)\).
• Jacobian relative to v: \( f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v + o(\delta v)\).

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

Definition at line 502 of file joint-configuration.hpp.

dIntegrate() [3/3]

void pinocchio::dIntegrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg,
		const AssignmentOperatorType	op
	)

Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling \( f(q, v) \) the integrate function, these jacobians satisfy the following relationships in the tangent space:

• Jacobian relative to q: \( f(q \oplus \delta q, v) \ominus f(q, v) = J_q \delta q + o(\delta q)\).
• Jacobian relative to v: \( f(q, v + \delta v) \ominus f(q, v) = J_v \delta v + o(\delta v)\).

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

This jacobian has to be interpreted in terms of Lie group, not vector space: as such, it is expressed in the tangent space only, not the configuration space. Calling \( f(q, v) \) the integrate function, these jacobians satisfy the following relationships in the tangent space:

• Jacobian relative to q: \( f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) \delta q + o(\delta q)\).
• Jacobian relative to v: \( f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v + o(\delta v)\).

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	J	Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv).
[in]	arg	Argument (either q or v) with respect to which the differentiation is performed.

Definition at line 502 of file joint-configuration.hpp.

dIntegrateTransport() [1/4]

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg
	)

Transport in place a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \( q \oplus v \), to the tangent space at \( q \). In other words, this functions transforms a tangent vector expressed at \( q \oplus v \) to a tangent vector expressed at \( q \), considering that the change of configuration between \( q \oplus v \) and \( q \) may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation \( M \in \text{SE}(3)\) on a spatial velocity \( v \in \text{se}(3)\). In the context of configuration spaces assimilated to vector spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[in,out]	J	Input/output matrix (number of rows = model.nv).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 680 of file joint-configuration.hpp.

dIntegrateTransport() [2/4]

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType > &	J,
		const ArgumentPosition	arg
	)

Transport in place a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \( q \oplus v \), to the tangent space at \( q \). In other words, this functions transforms a tangent vector expressed at \( q \oplus v \) to a tangent vector expressed at \( q \), considering that the change of configuration between \( q \oplus v \) and \( q \) may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation \( M \in \text{SE}(3)\) on a spatial velocity \( v \in \text{se}(3)\). In the context of configuration spaces assimilated to vector spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[in,out]	J	Input/output matrix (number of rows = model.nv).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 680 of file joint-configuration.hpp.

dIntegrateTransport() [3/4]

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType1 > &	Jin,
		const Eigen::MatrixBase< JacobianMatrixType2 > &	Jout,
		const ArgumentPosition	arg
	)

Transport a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \( q \oplus v \), to the tangent space at \( q \). In other words, this functions transforms a tangent vector expressed at \( q \oplus v \) to a tangent vector expressed at \( q \), considering that the change of configuration between \( q \oplus v \) and \( q \) may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation \( M \in \text{SE}(3)\) on a spatial velocity \( v \in \text{se}(3)\). In the context of configuration spaces assimilated to vector spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	Jin	Input matrix (number of rows = model.nv).
[out]	Jout	Output matrix (same size as Jin).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 593 of file joint-configuration.hpp.

dIntegrateTransport() [4/4]

void pinocchio::dIntegrateTransport	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< JacobianMatrixType1 > &	Jin,
		const Eigen::MatrixBase< JacobianMatrixType2 > &	Jout,
		const ArgumentPosition	arg
	)

Transport a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments.

This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \( q \oplus v \), to the tangent space at \( q \). In other words, this functions transforms a tangent vector expressed at \( q \oplus v \) to a tangent vector expressed at \( q \), considering that the change of configuration between \( q \oplus v \) and \( q \) may alter the value of this tangent vector. A typical example of parallel transportation is the action operated by a rigid transformation \( M \in \text{SE}(3)\) on a spatial velocity \( v \in \text{se}(3)\). In the context of configuration spaces assimilated to vector spaces, this operation corresponds to Identity. For Lie groups, its corresponds to the canonical vector field transportation.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	Jin	Input matrix (number of rows = model.nv).
[out]	Jout	Output matrix (same size as Jin).
[in]	arg	Argument (either ARG0 for q or ARG1 for v) with respect to which the differentation is performed.

Definition at line 593 of file joint-configuration.hpp.

dinv_inertia()

Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> pinocchio::dinv_inertia ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition.

Parameters

[in]

jdata

The jdata

Returns

The D^{-1} matrix of the inertia matrix decomposition

distance() [1/2]

Scalar pinocchio::distance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Distance between two configuration vectors, namely \( || q_{1} \ominus q_{0} ||_2 \).

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns

The distance between the two configurations q0 and q1.

Distance between two configuration vectors, namely \( || q_{1} \ominus q_{0} ||_2 \).

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns

The distance between the two configurations q0 and q1.

Definition at line 871 of file joint-configuration.hpp.

distance() [2/2]

Scalar pinocchio::distance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Distance between two configuration vectors.

Distance between two configuration vectors, namely \( || q_{1} \ominus q_{0} ||_2 \).

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns

The distance between the two configurations q0 and q1.

Definition at line 871 of file joint-configuration.hpp.

exp3()

Eigen:: Matrix<typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options> pinocchio::exp3

(

const Eigen::MatrixBase< Vector3Like > &

v

)

Exp: so3 -> SO3.

Return the integral of the input angular velocity during time 1.

Parameters

[in]

v

The angular velocity vector.

Returns

The rotational matrix associated to the integration of the angular velocity during time 1.

Definition at line 36 of file explog.hpp.

exp6() [1/2]

SE3Tpl<typename Vector6Like::Scalar, Vector6Like ::Options> pinocchio::exp6

(

const Eigen::MatrixBase< Vector6Like > &

v

)

Exp: se3 -> SE3.

Return the integral of the input spatial velocity during time 1.

Parameters

[in]

v

The twist represented by a vector.

Returns

The rigid transformation associated to the integration of the twist vector during time 1.

Definition at line 417 of file explog.hpp.

exp6() [2/2]

SE3Tpl< typename MotionDerived::Scalar, typename MotionDerived::Vector3 ::Options> pinocchio::exp6

(

const MotionDense< MotionDerived > &

nu

)

Exp: se3 -> SE3.

Return the integral of the input twist during time 1.

Parameters

[in]

nu

The input twist.

Returns

The rigid transformation associated to the integration of the twist during time 1.

Definition at line 347 of file explog.hpp.

extractPathFromEnvVar() [1/2]

PINOCCHIO_PARSERS_DLLAPI std::vector<std::string> pinocchio::extractPathFromEnvVar	(	const std::string &	env_var_name,
		const std::string &	delimiter = ":"
	)

Parse an environment variable if exists and extract paths according to the delimiter.

Parameters

[in]	env_var_name	The name of the environment variable.
[in]	delimiter	The delimiter between two consecutive paths.

Returns

The vector of paths extracted from the environment variable value.

extractPathFromEnvVar() [2/2]

PINOCCHIO_PARSERS_DLLAPI void pinocchio::extractPathFromEnvVar	(	const std::string &	env_var_name,
		std::vector< std::string > &	list_of_paths,
		const std::string &	delimiter = ":"
	)

Parse an environment variable if exists and extract paths according to the delimiter.

Parameters

[in]	env_var_name	The name of the environment variable.
[out]	list_of_paths	List of path to fill with the paths extracted from the environment variable value.
[in]	delimiter	The delimiter between two consecutive paths.

findCommonAncestor()

JointIndex pinocchio::findCommonAncestor	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		JointIndex	joint1_id,
		JointIndex	joint2_id,
		size_t &	index_ancestor_in_support1,
		size_t &	index_ancestor_in_support2
	)

Computes the common ancestor between two joints belonging to the same kinematic tree.

Parameters

[in]	model	the input model.
[in]	joint1_id	index of the first joint.
[in]	joint2_id	index of the second joint.
[out]	index_ancestor_in_support1	index of the ancestor within model.support[joint1_id].
[out]	index_ancestor_in_support2	index of the ancestor within model.support[joint2_id].

forwardDynamics() [1/2]

PINOCCHIO_DEPRECATED const DataTpl<Scalar, Options, JointCollectionTpl>:: TangentVectorType& pinocchio::forwardDynamics ( 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 Eigen::MatrixBase< ConstraintMatrixType > &  J, const Eigen::MatrixBase< DriftVectorType > &  gamma, const Scalar  inv_damping = 0.  )

inline

Compute the forward dynamics with contact constraints. Internally, pinocchio::computeAllTerms is called.

Deprecated:

This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and constraintDynamics(model, data, q, v, tau, contact_models, contact_datas[,prox_settings]) instead.

Note

It solves the following problem:
\( \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\{} \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \)
where \( \ddot{q}_{\text{free}} \) is the free acceleration (i.e. without constraints), \( M \) is the mass matrix, \( J \) the constraint Jacobian and \( \gamma \) is the constraint drift. By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
ConstraintMatrixType	Type of the constraint matrix.
DriftVectorType	Type of the drift vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	gamma	The drift of the constraints (dim nb_constraints).
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Note

A hint: 1e-12 as the damping factor gave good result in the particular case of redundancy in contact constraints on the two feet.

Returns

A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.

forwardDynamics() [2/2]

PINOCCHIO_DEPRECATED const DataTpl<Scalar, Options, JointCollectionTpl>:: TangentVectorType& pinocchio::forwardDynamics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< TangentVectorType > &  tau, const Eigen::MatrixBase< ConstraintMatrixType > &  J, const Eigen::MatrixBase< DriftVectorType > &  gamma, const Scalar  inv_damping = 0.  )

inline

Compute the forward dynamics with contact constraints, assuming pinocchio::computeAllTerms has been called.

Deprecated:

This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and constraintDynamics(model, data, q, v, tau, contact_models, contact_datas[,prox_settings]) instead.

Note

It solves the following problem:
\( \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\{} \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \)
where \( \ddot{q}_{\text{free}} \) is the free acceleration (i.e. without constraints), \( M \) is the mass matrix, \( J \) the constraint Jacobian and \( \gamma \) is the constraint drift. By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
ConstraintMatrixType	Type of the constraint matrix.
DriftVectorType	Type of the drift vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	v	The joint velocity (vector dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	gamma	The drift of the constraints (dim nb_constraints).
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Note

A hint: 1e-12 as the damping factor gave good result in the particular case of redundancy in contact constraints on the two feet.

Returns

A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.

forwardKinematics() [1/3]

void pinocchio::forwardKinematics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)

Update the joint placements according to the current joint configuration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).

forwardKinematics() [2/3]

void pinocchio::forwardKinematics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Update the joint placements and spatial velocities according to the current joint configuration and velocity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).

forwardKinematics() [3/3]

void pinocchio::forwardKinematics	(	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 > &	a
	)

Update the joint placements, spatial velocities and spatial accelerations according to the current joint configuration, velocity and acceleration.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).
[in]	a	The joint acceleration (vector dim model.nv).

frameBodyRegressor()

DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType& pinocchio::frameBodyRegressor ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, FrameIndex  frame_id  )

inline

Computes the regressor for the dynamic parameters of a rigid body attached to a given frame, puts the result in data.bodyRegressor and returns it.

This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.

The result is such that \( f = \text{frameBodyRegressor(model,data,frame_id) * I.toDynamicParameters()} \) where \( f \) is the net force acting on the body, including gravity

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frame_id	The id of the frame.

Returns

The dynamic regressor of the body.

framesForwardKinematics()

void pinocchio::framesForwardKinematics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q  )

inline

First calls the forwardKinematics on the model, then computes the placement of each frame. /sa pinocchio::forwardKinematics.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.
[in]	q	Configuration vector.

getAcceleration()

MotionTpl<Scalar, Options> pinocchio::getAcceleration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	jointId,
		const ReferenceFrame	rf = LOCAL
	)

Returns the spatial acceleration of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	jointId	Id of the joint
[in]	rf	Reference frame in which the acceleration is expressed.

Returns

The spatial acceleration of the joint expressed in the desired reference frame.

Warning

Second order forwardKinematics should have been called first

getCenterOfMassVelocityDerivatives()

void pinocchio::getCenterOfMassVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< Matrix3xOut > &	vcom_partial_dq
	)

Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration q. You must first call computeAllTerms(model,data,q,v) or computeCenterOfMass(model,data,q,v) before calling this function.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xOut	Matrix3x containing the partial derivatives of the CoM velocity with respect to the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[out]	v_partial_dq	Partial derivative of the CoM velocity w.r.t. \( q \).

getCentroidalDynamicsDerivatives()

void pinocchio::getCentroidalDynamicsDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< Matrix6xLike1 > &	dh_dq,
		const Eigen::MatrixBase< Matrix6xLike1 > &	dhdot_dq,
		const Eigen::MatrixBase< Matrix6xLike2 > &	dhdot_dv,
		const Eigen::MatrixBase< Matrix6xLike3 > &	dhdot_da
	)

Retrive the analytical derivatives of the centroidal dynamics from the RNEA derivatives. pinocchio::computeRNEADerivatives should have been called first.

Computes the first order approximation of the centroidal dynamics time derivative and corresponds to the following equation \( d\dot{h_{g}} = \frac{\partial \dot{h_{g}}}{\partial \mathbf{q}} d\mathbf{q} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{v}} d\mathbf{v} + \frac{\partial \dot{h_{g}}}{\partial \mathbf{a}} d\mathbf{a} \)

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[out]	dh_dq	The partial derivative of the centroidal momentum with respect to the configuration vector (dim 6 x model.nv). ///
[out]	dhdot_dq	The partial derivative of the centroidal dynamics with respect to the configuration vector (dim 6 x model.nv).
[out]	dhdot_dv	The partial derivative of the centroidal dynamics with respect to the velocity vector (dim 6 x model.nv).
[out]	dhdot_da	The partial derivative of the centroidal dynamics with respect to the acceleration vector (dim 6 x model.nv).

Returns

It also computes the current centroidal dynamics and its time derivative. For information, the centroidal momentum matrix is equivalent to dhdot_da.

getClassicalAcceleration()

MotionTpl<Scalar, Options> pinocchio::getClassicalAcceleration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	jointId,
		const ReferenceFrame	rf = LOCAL
	)

Returns the "classical" acceleration of the joint expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	jointId	Id of the joint
[in]	rf	Reference frame in which the acceleration is expressed.

Returns

The classic acceleration of the joint expressed in the desired reference frame.

Warning

Second order forwardKinematics should have been called first

getComFromCrba()

const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3& pinocchio::getComFromCrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix).

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The center of mass position of the rigid body system expressed in the world frame (vector 3).

getConstraintJacobian()

void pinocchio::getConstraintJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const RigidConstraintModelTpl< Scalar, Options > &	constraint_model,
		RigidConstraintDataTpl< Scalar, Options > &	constraint_data,
		const Eigen::MatrixBase< Matrix6Like > &	J
	)

Computes the kinematic Jacobian associatied to a given constraint model.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	constraint_model	Constraint model.
[in]	constraint_data	Constraint data.
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.fill(0.).

getConstraintsJacobian()

void pinocchio::getConstraintsJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintDataAllocator > &	constraint_model,
		std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &	constraint_data,
		const Eigen::MatrixBase< DynamicMatrixLike > &	J
	)

Computes the kinematic Jacobian associatied to a given set of constraint models.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	constraint_models	Vector of constraint models.
[in]	constraint_datas	Vector of constraint data.
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim nc x model.nv). You must fill J with zero elements, e.g. J.fill(0.).

getCoriolisMatrix()

const DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs& pinocchio::getCoriolisMatrix	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Retrives the Coriolis Matrix \( C(q,\dot{q}) \) of the Lagrangian dynamics:

\( \begin{eqnarray} M \ddot{q} + C(q, \dot{q})\dot{q} + g(q) = \tau \end{eqnarray} \)

after a call to the dynamics derivatives.

Note

In the previous equation, \( c(q, \dot{q}) = C(q, \dot{q})\dot{q} \).

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The Coriolis matrix stored in data.C.

getFrameAcceleration() [1/2]

MotionTpl<Scalar, Options> pinocchio::getFrameAcceleration ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const FrameIndex  frame_id, const ReferenceFrame  rf = LOCAL  )

inline

Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in the data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the acceleration is expressed.

Returns

The spatial acceleration of the Frame expressed in the desired reference frame.

Warning

Second order forwardKinematics should have been called first

Remarks

In the context of a frame placement constraint \(J(q) a + \dot{J}(q, v) v = 0\), one way to compute the second term \(\dot{J}(q, v) v\) is to call second-order forwardKinematics with a zero acceleration, then read the remaining \(\dot{J}(q, v) v\) by calling this function. This is significantly more efficient than applying the matrix \(\dot{J}(q, v)\) (from getFrameJacobianTimeVariation) to the velocity vector \(v\).

Definition at line 166 of file frames.hpp.

getFrameAcceleration() [2/2]

MotionTpl<Scalar, Options> pinocchio::getFrameAcceleration ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const JointIndex  joint_id, const SE3Tpl< Scalar, Options > &  placement, const ReferenceFrame  rf = LOCAL  )

inline

Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Id of the parent joint
[in]	placement	frame placement with respect to the parent joint
[in]	rf	Reference frame in which the acceleration is expressed.

Returns

The spatial acceleration of the Frame expressed in the desired reference frame.

Warning

Second order forwardKinematics should have been called first

getFrameAccelerationDerivatives() [1/4]

void pinocchio::getFrameAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_da
	)

Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint configuration vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint velocity vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the frame spatial velocity w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( \dot{v} \).

Definition at line 185 of file frames-derivatives.hpp.

getFrameAccelerationDerivatives() [2/4]

void pinocchio::getFrameAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut5 > &	a_partial_da
	)

Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint configuration vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint velocity vector.
Matrix6xOut5	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the frame spatial velocity w.r.t. \( q \).
[out]	v_partial_dv	Partial derivative of the frame spatial velociy w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( \dot{v} \).

Definition at line 315 of file frames-derivatives.hpp.

getFrameAccelerationDerivatives() [3/4]

void pinocchio::getFrameAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_da
	)

Computes the partial derivatives of the spatial acceleration of a frame given by its relative placement, with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint configuration vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint velocity vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Index of the supporting joint
[in]	placement	Placement of the Frame w.r.t. the joint frame.
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the frame spatial velocity w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( \dot{v} \).

getFrameAccelerationDerivatives() [4/4]

void pinocchio::getFrameAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut5 > &	a_partial_da
	)

Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint configuration vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint velocity vector.
Matrix6xOut5	Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Index of the supporting joint
[in]	placement	Placement of the Frame w.r.t. the joint frame.
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the frame spatial velocity w.r.t. \( q \).
[out]	v_partial_dv	Partial derivative of the frame spatial velociy w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the frame spatial acceleration w.r.t. \( \dot{v} \).

Definition at line 254 of file frames-derivatives.hpp.

getFrameClassicalAcceleration() [1/2]

MotionTpl<Scalar, Options> pinocchio::getFrameClassicalAcceleration ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const FrameIndex  frame_id, const ReferenceFrame  rf = LOCAL  )

inline

Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the acceleration is expressed.

Returns

The classical acceleration of the Frame expressed in the desired reference frame.

Warning

Second order forwardKinematics should have been called first

Remarks

In the context of a frame placement constraint \(J(q) a + \dot{J}(q, v) v = 0\), one way to compute the second term \(\dot{J}(q, v) v\) is to call second-order forwardKinematics with a zero acceleration, then read the remaining \(\dot{J}(q, v) v\) by calling this function. This is significantly more efficient than applying the matrix \(\dot{J}(q, v)\) (from getFrameJacobianTimeVariation) to the velocity vector \(v\).

Definition at line 226 of file frames.hpp.

getFrameClassicalAcceleration() [2/2]

MotionTpl<Scalar, Options> pinocchio::getFrameClassicalAcceleration ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const JointIndex  joint_id, const SE3Tpl< Scalar, Options > &  placement, const ReferenceFrame  rf = LOCAL  )

inline

Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Id of the parent joint
[in]	placement	frame placement with respect to the parent joint
[in]	rf	Reference frame in which the acceleration is expressed.

Returns

The classical acceleration of the Frame expressed in the desired reference frame.

Warning

Second order forwardKinematics should have been called first

getFrameJacobian() [1/4]

Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::getFrameJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	reference_frame
	)

Returns the jacobian of the frame expressed either expressed in the local frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians.

Remarks

Similarly to pinocchio::getJointJacobian:

• if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinate system of the frame
• if rf == LOCAL_WORLD_ALIGNED, this function returns the Jacobian of the frame centered on the frame origin and expressed in a coordinate system aligned with the WORLD.
• if rf == WORLD, this function returns the Jacobian of the frame expressed at the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Index of the frame
[in]	reference_frame	Reference frame in which the Jacobian is expressed.

Warning

The function pinocchio::computeJointJacobians should have been called first.

Definition at line 397 of file frames.hpp.

getFrameJacobian() [2/4]

void pinocchio::getFrameJacobian ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const FrameIndex  frame_id, const ReferenceFrame  reference_frame, const Eigen::MatrixBase< Matrix6xLike > &  J  )

inline

Returns the jacobian of the frame expressed either expressed in the local frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians.

Remarks

Similarly to pinocchio::getJointJacobian:

• if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinate system of the frame
• if rf == LOCAL_WORLD_ALIGNED, this function returns the Jacobian of the frame centered on the frame origin and expressed in a coordinate system aligned with the WORLD.
• if rf == WORLD, this function returns the Jacobian of the frame expressed at the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Index of the frame
[in]	reference_frame	Reference frame in which the Jacobian is expressed.
[out]	J	The Jacobian of the Frame expressed in the coordinates Frame.

Warning

The function pinocchio::computeJointJacobians should have been called first.

Definition at line 351 of file frames.hpp.

getFrameJacobian() [3/4]

Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::getFrameJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	reference_frame
	)

Returns the jacobian of the frame given by its relative placement w.r.t. a joint frame, and whose columns are either expressed in the LOCAL frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians.

Remarks

Similarly to pinocchio::getJointJacobian:

• if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinate system of the frame
• if rf == LOCAL_WORLD_ALIGNED, this function returns the Jacobian of the frame centered on the frame origin and expressed in a coordinate system aligned with the WORLD.
• if rf == WORLD, this function returns the Jacobian of the frame expressed at the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Index of the joint.
[in]	reference_frame	Reference frame in which the Jacobian is expressed.

Warning

The function pinocchio::computeJointJacobians should have been called first.

Definition at line 304 of file frames.hpp.

getFrameJacobian() [4/4]

void pinocchio::getFrameJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	reference_frame,
		const Eigen::MatrixBase< Matrix6xLike > &	J
	)

Returns the jacobian of the frame given by its relative placement w.r.t. a joint frame, and whose columns are either expressed in the LOCAL frame coordinate system, in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians.

Remarks

Similarly to pinocchio::getJointJacobian:

• if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinate system of the frame
• if rf == LOCAL_WORLD_ALIGNED, this function returns the Jacobian of the frame centered on the frame origin and expressed in a coordinate system aligned with the WORLD.
• if rf == WORLD, this function returns the Jacobian of the frame expressed at the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Index of the joint.
[in]	reference_frame	Reference frame in which the Jacobian is expressed.
[out]	J	The Jacobian of the Frame expressed in the reference_frame coordinate system.

Warning

The function pinocchio::computeJointJacobians should have been called first.

getFrameJacobianTimeVariation()

void pinocchio::getFrameJacobianTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xLike > &	dJ
	)

Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the WORLD frame (rf = WORLD), in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the LOCAL frame (rf = LOCAL).

Note

This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	frameId	The index of the frame.
[out]	dJ	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).

getFrameVelocity() [1/2]

MotionTpl<Scalar, Options> pinocchio::getFrameVelocity ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const FrameIndex  frame_id, const ReferenceFrame  rf = LOCAL  )

inline

Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.

Returns

The spatial velocity of the Frame expressed in the desired reference frame.

Warning

Fist or second order forwardKinematics should have been called first

Definition at line 108 of file frames.hpp.

getFrameVelocity() [2/2]

MotionTpl<Scalar, Options> pinocchio::getFrameVelocity ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const JointIndex  joint_id, const SE3Tpl< Scalar, Options > &  placement, const ReferenceFrame  rf = LOCAL  )

inline

Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Id of the parent joint
[in]	placement	frame placement with respect to the parent joint
[in]	rf	Reference frame in which the velocity is expressed.

Returns

The spatial velocity of the Frame expressed in the desired reference frame.

Warning

Fist or second order forwardKinematics should have been called first

getFrameVelocityDerivatives() [1/2]

void pinocchio::getFrameVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv
	)

Computes the partial derivatives of the spatial velocity of a frame given by its relative placement, with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	joint_id	Index of the supporting joint
[in]	placement	Placement of the Frame w.r.t. the joint frame.
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the frame spatial velocity w.r.t. \( q \).
[out]	v_partial_dv	Partial derivative of the frame spatial velociy w.r.t. \( v \).

getFrameVelocityDerivatives() [2/2]

void pinocchio::getFrameVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv
	)

Computes the partial derivatives of the frame spatial velocity with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	frame_id	Id of the operational Frame
[in]	rf	Reference frame in which the velocity is expressed.
[out]	v_partial_dq	Partial derivative of the frame spatial velocity w.r.t. \( q \).
[out]	v_partial_dv	Partial derivative of the frame spatial velociy w.r.t. \( v \).

Definition at line 76 of file frames-derivatives.hpp.

getJacobianComFromCrba()

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x& pinocchio::getJacobianComFromCrba	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Extracts both the jacobian of the center of mass (CoM), the total mass of the system and the CoM position from the joint space inertia matrix (also called the mass matrix). The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both expressed in the world frame.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Returns

The jacobian of the CoM expressed in the world frame (matrix 3 x model.nv).

Remarks

This extraction of inertial quantities is only valid for free-floating base systems.

getJacobianSubtreeCenterOfMass()

void pinocchio::getJacobianSubtreeCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex &	rootSubtreeId,
		const Eigen::MatrixBase< Matrix3xLike > &	res
	)

Retrieves the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that pinocchio::jacobianCenterOfMass has been called first with computeSubtreeComs equals to true.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	rootSubtreeId	Index of the parent joint supporting the subtree.
[out]	res	The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().

getJointAccelerationDerivatives() [1/2]

void pinocchio::getJointAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_da
	)

Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint configuration vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint velocity vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	Index of the joint in model.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( \dot{v} \).

getJointAccelerationDerivatives() [2/2]

void pinocchio::getJointAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut3 > &	a_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut4 > &	a_partial_dv,
		const Eigen::MatrixBase< Matrix6xOut5 > &	a_partial_da
	)

Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives of the spatial velocity with respect to the joint velocity vector.
Matrix6xOut3	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint configuration vector.
Matrix6xOut4	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint velocity vector.
Matrix6xOut5	Matrix6x containing the partial derivatives of the spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	Index of the joint in model.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. \( q \).
[out]	v_partial_dv	Partial derivative of the joint spatial velociy w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( v \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( \dot{v} \).

getJointJacobian() [1/2]

Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::getJointJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	reference_frame
	)

Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame, in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the local frame (rf = LOCAL) of the joint.

Note

This jacobian is extracted from data.J. You have to run pinocchio::computeJointJacobians before calling it.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	The index of the joint.
[in]	reference_frame	Reference frame in which the result is expressed.

Definition at line 129 of file jacobian.hpp.

getJointJacobian() [2/2]

void pinocchio::getJointJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	reference_frame,
		const Eigen::MatrixBase< Matrix6Like > &	J
	)

Computes the Jacobian of a specific joint frame expressed in one of the pinocchio::ReferenceFrame options.

For the LOCAL reference frame, the Jacobian \({}^j J_{0j}\) from the joint frame \(j\) to the world frame \(0\) is such that \({}^j v_{0j} = {}^j J_{0j} \dot{q}\), where \({}^j v_{0j}\) is the velocity of the origin of the moving joint frame relative to the fixed world frame, projected into the basis of the joint frame. LOCAL_WORLD_ALIGNED is the same velocity but projected into the world frame basis.

For the WORLD reference frame, the Jacobian \({}^0 J_{0j}\) from the joint frame \(j\) to the world frame \(0\) is such that \({}^0 v_{0j} = {}^0 J_{0j} \dot{q}\), where \({}^0 v_{0j}\) is the spatial velocity of the joint frame. The linear component of this spatial velocity is the velocity of a (possibly imaginary) point attached to the moving joint frame j which is traveling through the origin of the world frame at that instant. The angular component is the instantaneous angular velocity of the joint frame as viewed in the world frame.

When serialized to a 6D vector, the order of coordinates is: three linear followed by three angular.

For further details regarding the different velocities or the Jacobian see Chapters 2 and 3 respectively in A Mathematical Introduction to Robotic Manipulation by Murray, Li and Sastry.

Note

This jacobian is extracted from data.J. You have to run pinocchio::computeJointJacobians before calling it.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	The id of the joint.
[in]	reference_frame	Reference frame in which the result is expressed.
[out]	J	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.fill(0.).

getJointJacobianTimeVariation()

void pinocchio::getJointJacobianTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	joint_id,
		const ReferenceFrame	reference_frame,
		const Eigen::MatrixBase< Matrix6Like > &	dJ
	)

Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD), in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the local frame (rf = LOCAL) of the joint.

Note

This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xLike	Type of the matrix containing the joint Jacobian.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	The id of the joint.
[in]	reference_frame	Reference frame in which the result is expressed.
[out]	dJ	A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).

getJointKinematicHessian() [1/2]

Tensor<Scalar, 3, Options> pinocchio::getJointKinematicHessian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	joint_id,
		const ReferenceFrame	rf
	)

Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to \( q \), the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint in model.
[in]	rf	Reference frame with respect to which the derivative of the Jacobian is expressed.

Returns

The kinematic Hessian of the joint provided by its joint_id and expressed in the frame precised by the variable rf.

Remarks

This function is also related to

See also

computeJointKinematicHessians. This function will proceed to some dynamic memory allocation for the return type. Please refer to getJointKinematicHessian for a version without dynamic memory allocation.

Definition at line 424 of file kinematics-derivatives.hpp.

getJointKinematicHessian() [2/2]

void pinocchio::getJointKinematicHessian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	joint_id,
		const ReferenceFrame	rf,
		Tensor< Scalar, 3, Options > &	kinematic_hessian
	)

Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to \( q \), the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. The frame in which the kinematic Hessian is precised by the input argument rf.

Template Parameters

Scalar	Scalar type of the kinematic model.
Options	Alignement options of the kinematic model.
JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint in model.
[in]	rf	Reference frame with respect to which the derivative of the Jacobian is expressed
[out]	kinematic_hessian	Second order derivative of the joint placement w.r.t. \( q \) expressed in the frame given by rf.

Remarks

This function is also related to

See also

computeJointKinematicHessians. kinematic_hessian has to be initialized with zero when calling this function for the first time and there is no dynamic memory allocation.

getJointVelocityDerivatives()

void pinocchio::getJointVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	jointId,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv
	)

Computes the partial derivaties of the spatial velocity of a given with respect to the joint configuration and velocity. You must first call computForwardKinematicsDerivatives before calling this function.

Template Parameters

JointCollection	Collection of Joint types.
Matrix6xOut1	Matrix6x containing the partial derivatives with respect to the joint configuration vector.
Matrix6xOut2	Matrix6x containing the partial derivatives with respect to the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint velociy w.r.t. \( q \).
[out]	v_partial_dv	Partial derivative of the joint velociy w.r.t. \( v \).

getKKTContactDynamicMatrixInverse()

PINOCCHIO_DEPRECATED void pinocchio::getKKTContactDynamicMatrixInverse	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConstraintMatrixType > &	J,
		const Eigen::MatrixBase< KKTMatrixType > &	KKTMatrix_inv
	)

Computes the inverse of the KKT matrix for dynamics with contact constraints.

Deprecated:

forwardDynamics/impuseDynamics is deprecated, and this function signature needs forwardDynamics to be called before. Please use the inverse() function in ContactCholeskyDecomposition class instead. It computes the following matrix:

\( \left[\begin{matrix}\mathbf{M}^{-1}-\mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & \mathbf{M}^{-1}\mathbf{J}^{\top}_c\widehat{\mathbf{M}}^{-1} \\ \widehat{\mathbf{M}}^{-1}\mathbf{J}_c\mathbf{M}^{-1} & -\widehat{\mathbf{M}}^{-1}\end{matrix}\right] \)

Remarks

The matrix is defined when one's call forwardDynamics/impulseDynamics. This method makes use of the matrix decompositions performed during the forwardDynamics/impulseDynamics and returns the inverse. The jacobian should be the same that the one provided to forwardDynamics/impulseDynamics. Thus forward Dynamics/impulseDynamics should have been called first.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	J	Jacobian of the constraints.
[out]	KKTMatrix_inv	inverse of the MJtJ matrix.

getPointClassicAccelerationDerivatives() [1/2]

void pinocchio::getPointClassicAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix3xOut1 > &	v_point_partial_dq,
		const Eigen::MatrixBase< Matrix3xOut2 > &	a_point_partial_dq,
		const Eigen::MatrixBase< Matrix3xOut3 > &	a_point_partial_dv,
		const Eigen::MatrixBase< Matrix3xOut4 > &	a_point_partial_da
	)

Computes the partial derivatives of the classic acceleration of a point given by its placement information w.r.t. the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_point_partial_dq. v_point_partial_dv is not computed it is equal to a_point_partial_da.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xOut1	Matrix3x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.
Matrix3xOut2	Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint configuration vector.
Matrix3xOut3	Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint velocity vector.
Matrix3xOut4	Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint in model.
[in]	placement	Relative placement of the point w.r.t. the joint frame.
[in]	rf	Reference frame in which the Jacobian is expressed (either LOCAL or LOCAL_WORLD_ALIGNED).
[out]	v_point_partial_dq	Partial derivative of the point velocity w.r.t. \( q \).
[out]	a_point_partial_dq	Partial derivative of the point classic acceleration w.r.t. \( q \).
[out]	a_point_partial_dv	Partial derivative of the point classic acceleration w.r.t. \( v \).
[out]	a_point_partial_da	Partial derivative of the point classic acceleration w.r.t. \( \dot{v} \).

getPointClassicAccelerationDerivatives() [2/2]

void pinocchio::getPointClassicAccelerationDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix3xOut1 > &	v_point_partial_dq,
		const Eigen::MatrixBase< Matrix3xOut2 > &	v_point_partial_dv,
		const Eigen::MatrixBase< Matrix3xOut3 > &	a_point_partial_dq,
		const Eigen::MatrixBase< Matrix3xOut4 > &	a_point_partial_dv,
		const Eigen::MatrixBase< Matrix3xOut5 > &	a_point_partial_da
	)

Computes the partial derivaties of the classic acceleration of a point given by its placement information w.r.t. to the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_point_partial_dq and v_point_partial_dv..

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xOut1	Matrix3x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.
Matrix3xOut2	Matrix3x containing the partial derivatives of the spatial velocity with respect to the joint velocity vector.
Matrix3xOut3	Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint configuration vector.
Matrix3xOut4	Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint velocity vector.
Matrix3xOut5	Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint in model.
[in]	placement	Relative placement of the point w.r.t. the joint frame.
[in]	rf	Reference frame in which the Jacobian is expressed (either LOCAL or LOCAL_WORLD_ALIGNED).
[out]	v_point_partial_dq	Partial derivative of the point velocity w.r.t. \( q \).
[out]	v_point_partial_dv	Partial derivative of the point velociy w.r.t. \( v \).
[out]	a_point_partial_dq	Partial derivative of the point classic acceleration w.r.t. \( q \).
[out]	a_point_partial_dv	Partial derivative of the point classic acceleration w.r.t. \( v \).
[out]	a_point_partial_da	Partial derivative of the point classic acceleration w.r.t. \( \dot{v} \).

getPointVelocityDerivatives()

void pinocchio::getPointVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Model::JointIndex	joint_id,
		const SE3Tpl< Scalar, Options > &	placement,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix3xOut1 > &	v_point_partial_dq,
		const Eigen::MatrixBase< Matrix3xOut2 > &	v_point_partial_dv
	)

Computes the partial derivatives of the velocity of a point given by its placement information w.r.t. the joint frame. You must first call computForwardKinematicsDerivatives before calling this function.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xOut1	Matrix3x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.
Matrix3xOut2	Matrix3x containing the partial derivatives of the spatial velocity with respect to the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	Index of the joint in model.
[in]	placement	Relative placement of the point w.r.t. the joint frame.
[in]	rf	Reference frame in which the Jacobian is expressed (either LOCAL or LOCAL_WORLD_ALIGNED).
[out]	v_point_partial_dq	Partial derivative of the point velocity w.r.t. \( q \).
[out]	v_point_partial_dv	Partial derivative of the point velociy w.r.t. \( v \).

getTotalConstraintSize()

struct PINOCCHIO_UNSUPPORTED_MESSAGE ("The API will change towards more flexibility") RigidConstraintModelTpl size_t pinocchio::getTotalConstraintSize

(

const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &

contact_models

)

Contact model structure containg all the info describing the rigid contact model.

 

Definition at line 808 of file contact-info.hpp.

getVelocity()

MotionTpl<Scalar, Options> pinocchio::getVelocity	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex	jointId,
		const ReferenceFrame	rf = LOCAL
	)

Returns the spatial velocity of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.

Parameters

[in]	model	The kinematic model
[in]	data	Data associated to model
[in]	jointId	Id of the joint
[in]	rf	Reference frame in which the velocity is expressed.

Returns

The spatial velocity of the joint expressed in the desired reference frame.

Warning

Fist or second order forwardKinematics should have been called first

hasConfigurationLimit()

const std::vector<bool> pinocchio::hasConfigurationLimit ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointConfigurationLimitVisitor to get the configurations limits.

Parameters

[in]

jmodel

The JointModelVariant

Returns

The bool with configurations limits of the joint

hasConfigurationLimitInTangent()

const std::vector<bool> pinocchio::hasConfigurationLimitInTangent ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointConfigurationLimitInTangentVisitor to get the configurations limits in tangent space.

Parameters

[in]

jmodel

The JointModelVariant

Returns

The bool with configurations limits in tangent space of the joint

hasSameIndexes()

bool pinocchio::hasSameIndexes	(	const JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel_generic,
		const JointModelBase< JointModelDerived > &	jmodel
	)

Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived.

Parameters

[in]	jmodel_generic	The generic joint model containing a variant.
[in]	jmodel	The other joint modelto compare with

Returns

True if the two joints have the same indexes.

Hlog3()

void pinocchio::Hlog3	(	const Eigen::MatrixBase< Matrix3Like1 > &	R,
		const Eigen::MatrixBase< Vector3Like > &	v,
		const Eigen::MatrixBase< Matrix3Like2 > &	vt_Hlog
	)

Second order derivative of log3.

This computes \( v^T H_{log} \).

Parameters

[in]	R	the rotation matrix.
[in]	v	the 3D vector.
[out]	vt_Hlog	the product of the Hessian with the input vector

Definition at line 321 of file explog.hpp.

id()

JointIndex pinocchio::id ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain.

Parameters

[in]

jmodel

The JointModelVariant

Returns

The index of the joint in the kinematic chain

idx_q()

int pinocchio::idx_q ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint.

Parameters

[in]

jmodel

The JointModelVariant

Returns

The index in the full model configuration space corresponding to the first degree of freedom of jmodel

idx_v()

int pinocchio::idx_v ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree.

Parameters

[in]

jmodel

The JointModelVariant

Returns

The index in the full model tangent space corresponding to the first joint tangent space degree

impulseDynamics() [1/3]

PINOCCHIO_DEPRECATED const DataTpl<Scalar, Options, JointCollectionTpl>:: TangentVectorType& pinocchio::impulseDynamics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType > &  v_before, const Eigen::MatrixBase< ConstraintMatrixType > &  J, const Scalar  r_coeff = 0., const Scalar  inv_damping = 0.  )

inline

Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called.

Deprecated:

This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and impulseDynamics(model, data, q, v_before, contact_models, contact_datas[,r_coeff, mu]) instead.

Note

It solves the following problem:
\( \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\{} \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-} \end{eqnarray} \)
where \( \dot{q}^{-} \) is the generalized velocity before impact, \( M \) is the joint space mass matrix, \( J \) the constraint Jacobian and \( \epsilon \) is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.
ConstraintMatrixType	Type of the constraint matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v_before	The joint velocity before impact (vector dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	r_coeff	The coefficient of restitution. Must be in [0;1].
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Returns

A reference to the generalized velocity after impact stored in data.dq_after. The Lagrange Multipliers linked to the contact impulsed are available throw data.impulse_c vector.

impulseDynamics() [2/3]

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::impulseDynamics	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v_before,
		const std::vector< RigidConstraintModelTpl< Scalar, Options >, ConstraintModelAllocator > &	contact_models,
		std::vector< RigidConstraintDataTpl< Scalar, Options >, ConstraintDataAllocator > &	contact_datas,
		const Scalar	r_coeff,
		const ProximalSettingsTpl< Scalar > &	settings
	)

Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called.

Note

It computes the following problem:
\( \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\\ \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-} \end{eqnarray} \)
where \( \dot{q}^{-} \) is the generalized velocity before impact, \( M \) is the joint space mass matrix, \( J \) the constraint Jacobian and \( \epsilon \) is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
Allocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (size model.nq).
[in]	v_before	The joint velocity (size model.nv).
[in]	contact_models	Vector of contact information related to the problem.
[in]	contact_datas	Vector of contact datas related to the contact models.
[in]	r_coeff	coefficient of restitution: must be in [0.,1.]
[in]	mu	Damping factor for cholesky decomposition. Set to zero if constraints are full rank.

Note

A hint: a typical value for mu is 1e-12 when two contact constraints are redundant.

Returns

A reference to the joint velocities stored in data.dq_after. The Lagrange Multipliers linked to the contact forces are available throw data.impulse_c vector.

impulseDynamics() [3/3]

PINOCCHIO_DEPRECATED const DataTpl<Scalar, Options, JointCollectionTpl>:: TangentVectorType& pinocchio::impulseDynamics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< TangentVectorType > &  v_before, const Eigen::MatrixBase< ConstraintMatrixType > &  J, const Scalar  r_coeff = 0., const Scalar  inv_damping = 0.  )

inline

Compute the impulse dynamics with contact constraints, assuming pinocchio::crba has been called.

Deprecated:

This function has been deprecated and will be removed in future releases of Pinocchio. Please use the class RigidConstraintModel to define new contacts, and initConstraintDynamics(model, data, contact_models) and impulseDynamics(model, data, q, v_before, contact_models, contact_datas[,r_coeff, mu]) instead.

Note

It solves the following problem:
\( \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\{} \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-} \end{eqnarray} \)
where \( \dot{q}^{-} \) is the generalized velocity before impact, \( M \) is the joint space mass matrix, \( J \) the constraint Jacobian and \( \epsilon \) is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.
ConstraintMatrixType	Type of the constraint matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	v_before	The joint velocity before impact (vector dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	r_coeff	The coefficient of restitution. Must be in [0;1].
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.

Returns

A reference to the generalized velocity after impact stored in data.dq_after. The Lagrange Multipliers linked to the contact impulsed are available throw data.impulse_c vector.

initConstraintDynamics()

void pinocchio::initConstraintDynamics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &  contact_models  )

inline

Init the forward dynamics data according to the contact information contained in contact_models.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
Allocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	contact_models	Vector of contact information related to the problem.

initPvSolver()

void pinocchio::initPvSolver ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const std::vector< RigidConstraintModelTpl< Scalar, Options >, Allocator > &  contact_models  )

inline

Init the data according to the contact information contained in contact_models.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
Allocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	contact_models	Vector of contact information related to the problem.

integrate() [1/5]

void pinocchio::integrate ( const LieGroupGenericTpl< LieGroupCollection > &  lg, const Eigen::MatrixBase< ConfigIn_t > &  q, const Eigen::MatrixBase< Tangent_t > &  v, const Eigen::MatrixBase< ConfigOut_t > &  qout  )

inline

Visit a LieGroupVariant to call its integrate method.

Parameters

[in]	lg	the LieGroupVariant.
[in]	q	the starting configuration.
[in]	v	the tangent velocity.

integrate() [2/5]

ConfigVectorType pinocchio::integrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)

Returns

The integrated configuration (size model.nq)

Definition at line 1140 of file joint-configuration.hpp.

integrate() [3/5]

ConfigVectorType pinocchio::integrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

Parameters

[in]	model	Model of the kinematic tree on which the integration operation is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)

Returns

The integrated configuration (size model.nq)

Definition at line 1140 of file joint-configuration.hpp.

integrate() [4/5]

void pinocchio::integrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

This function corresponds to the exponential map of the joint configuration Lie Group. Its output can be interpreted as the "sum" from the Lie algebra to the joint configuration space \( q \oplus v \).

Parameters

[in]	model	Model of the kinematic tree on which the integration is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	qout	The integrated configuration (size model.nq)

Definition at line 72 of file joint-configuration.hpp.

integrate() [5/5]

void pinocchio::integrate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Integrate a configuration vector for the specified model for a tangent vector during one unit time.

This function corresponds to the exponential map of the joint configuration Lie Group. Its output can be interpreted as the "sum" from the Lie algebra to the joint configuration space \( q \oplus v \).

Parameters

[in]	model	Model of the kinematic tree on which the integration is performed.
[in]	q	Initial configuration (size model.nq)
[in]	v	Joint velocity (size model.nv)
[out]	qout	The integrated configuration (size model.nq)

Definition at line 72 of file joint-configuration.hpp.

integrateCoeffWiseJacobian() [1/2]

void pinocchio::integrateCoeffWiseJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector > &	q,
		const Eigen::MatrixBase< JacobianMatrix > &	jacobian
	)

Return the Jacobian of the integrate function for the components of the config vector.

Parameters

[in]	model	Model of the kinematic tree.
[out]	jacobian	The Jacobian of the integrate operation.

This function is often required for the numerical solvers that are working on the tangent of the configuration space, instead of the configuration space itself.

Definition at line 1079 of file joint-configuration.hpp.

integrateCoeffWiseJacobian() [2/2]

void pinocchio::integrateCoeffWiseJacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVector > &	q,
		const Eigen::MatrixBase< JacobianMatrix > &	jacobian
	)

Return the Jacobian of the integrate function for the components of the config vector.

Parameters

[in]	model	Model of the kinematic tree.
[out]	jacobian	The Jacobian of the integrate operation.

This function is often required for the numerical solvers that are working on the tangent of the configuration space, instead of the configuration space itself.

Definition at line 1079 of file joint-configuration.hpp.

interpolate() [1/4]

ConfigVectorIn1 pinocchio::interpolate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Scalar &	u
	)

Interpolate two configurations for a given model.

Parameters

[in]	model	Model of the kinematic tree on which the interpolation operation is performed.
[in]	q0	Initial configuration vector (size model.nq)
[in]	q1	Final configuration vector (size model.nq)
[in]	u	u in [0;1] position along the interpolation.

Returns

The interpolated configuration (q0 if u = 0, q1 if u = 1)

Definition at line 1197 of file joint-configuration.hpp.

interpolate() [2/4]

ConfigVectorIn1 pinocchio::interpolate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Scalar &	u
	)

Interpolate two configurations for a given model.

Parameters

[in]	model	Model of the kinematic tree on which the interpolation operation is performed.
[in]	q0	Initial configuration vector (size model.nq)
[in]	q1	Final configuration vector (size model.nq)
[in]	u	u in [0;1] position along the interpolation.

Returns

The interpolated configuration (q0 if u = 0, q1 if u = 1)

Definition at line 1197 of file joint-configuration.hpp.

interpolate() [3/4]

void pinocchio::interpolate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Scalar &	u,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Interpolate two configurations for a given model.

Parameters

[in]	model	Model of the kinematic tree on which the interpolation is performed.
[in]	q0	Initial configuration vector (size model.nq)
[in]	q1	Final configuration vector (size model.nq)
[in]	u	u in [0;1] position along the interpolation.
[out]	qout	The interpolated configuration (q0 if u = 0, q1 if u = 1)

Definition at line 131 of file joint-configuration.hpp.

interpolate() [4/4]

void pinocchio::interpolate	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Scalar &	u,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Interpolate two configurations for a given model.

Parameters

[in]	model	Model of the kinematic tree on which the interpolation is performed.
[in]	q0	Initial configuration vector (size model.nq)
[in]	q1	Final configuration vector (size model.nq)
[in]	u	u in [0;1] position along the interpolation.
[out]	qout	The interpolated configuration (q0 if u = 0, q1 if u = 1)

Definition at line 131 of file joint-configuration.hpp.

isEqual() [1/2]

bool pinocchio::isEqual	(	const JointDataTpl< Scalar, Options, JointCollectionTpl > &	jmodel_generic,
		const JointDataBase< JointDataDerived > &	jmodel
	)

Visit a JointDataTpl<Scalar,...> to compare it to another JointData.

Parameters

[in]	jdata_generic	The generic joint data containing a variant.
[in]	jdata	The other joint data for the comparison.

Returns

True if the two joints data are equal.

isEqual() [2/2]

bool pinocchio::isEqual	(	const JointModelTpl< Scalar, Options, JointCollectionTpl > &	jmodel_generic,
		const JointModelBase< JointModelDerived > &	jmodel
	)

Visit a JointModelTpl<Scalar,...> to compare it to JointModelDerived.

Parameters

[in]	jmodel_generic	The generic joint model containing a variant.
[in]	jmodel	The other joint model for the comparison.

Returns

True if the two joint models are equal.

isNormalized() [1/3]

bool pinocchio::isNormalized ( const Eigen::MatrixBase< VectorLike > &  vec, const typename VectorLike::RealScalar &  prec = Eigen::NumTraits<typename VectorLike::Scalar>::dummy_precision()  )

inline

Check whether the input vector is Normalized within the given precision.

Parameters

[in]	vec	Input vector
[in]	prec	Required precision

Returns

true if vec is normalized within the precision prec.

Definition at line 206 of file matrix.hpp.

isNormalized() [2/3]

bool pinocchio::isNormalized	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Scalar &	prec = Eigen::NumTraits< Scalar >::dummy_precision()
	)

Check whether a configuration vector is normalized within the given precision provided by prec.

Parameters

[in]	model	Model of the kinematic tree.
[in]	q	Configuration to check (size model.nq).
[in]	prec	Precision.

Returns

Whether the configuration is normalized or not, within the given precision.

Definition at line 962 of file joint-configuration.hpp.

isNormalized() [3/3]

bool pinocchio::isNormalized	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Scalar &	prec = Eigen::NumTraits<Scalar>::dummy_precision()
	)

Check whether a configuration vector is normalized within the given precision provided by prec.

Parameters

[in]	model	Model of the kinematic tree.
[in]	q	Configuration to check (size model.nq).
[in]	prec	Precision.

Returns

Whether the configuration is normalized or not, within the given precision.

Definition at line 962 of file joint-configuration.hpp.

isSameConfiguration() [1/2]

bool pinocchio::isSameConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q1,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q2,
		const Scalar &	prec = Eigen::NumTraits< Scalar >::dummy_precision()
	)

Return true if the given configurations are equivalents, within the given precision.

Remarks

Two configurations can be equivalent but not equally coefficient wise (e.g two quaternions with opposite coefficients give rise to the same orientation, i.e. they are equivalent.).

Parameters

[in]	model	Model of the kinematic tree.
[in]	q1	The first configuraiton to compare.
[in]	q2	The second configuration to compare.
[in]	prec	precision of the comparison.

Returns

Whether the configurations are equivalent or not, within the given precision.

Remarks

Two configurations can be equivalent but not equally coefficient wise (e.g two quaternions with opposite coefficients give rise to the same orientation, i.e. they are equivalent.).

Parameters

[in]	model	Model of the kinematic tree.
[in]	q1	The first configuraiton to compare
[in]	q2	The second configuration to compare
[in]	prec	precision of the comparison.

Returns

Whether the configurations are equivalent or not

Definition at line 1024 of file joint-configuration.hpp.

isSameConfiguration() [2/2]

bool pinocchio::isSameConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q1,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q2,
		const Scalar &	prec = Eigen::NumTraits<Scalar>::dummy_precision()
	)

Return true if the given configurations are equivalents, within the given precision.

Remarks

Two configurations can be equivalent but not equally coefficient wise (e.g two quaternions with opposite coefficients give rise to the same orientation, i.e. they are equivalent.).

Parameters

[in]	model	Model of the kinematic tree.
[in]	q1	The first configuraiton to compare
[in]	q2	The second configuration to compare
[in]	prec	precision of the comparison.

Returns

Whether the configurations are equivalent or not

Definition at line 1024 of file joint-configuration.hpp.

isUnitary()

bool pinocchio::isUnitary ( const Eigen::MatrixBase< MatrixLike > &  mat, const typename MatrixLike::RealScalar &  prec = Eigen::NumTraits<typename MatrixLike::Scalar>::dummy_precision()  )

inline

Check whether the input matrix is Unitary within the given precision.

Parameters

[in]	mat	Input matrix
[in]	prec	Required precision

Returns

true if mat is unitary within the precision prec

Definition at line 155 of file matrix.hpp.

jacobianCenterOfMass() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x& pinocchio::jacobianCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const bool	computeSubtreeComs = true
	)

Computes both the jacobian and the the center of mass position of a given model according to the current value stored in data. It assumes that forwardKinematics has been called first. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (.

See also

pinocchio::computeJointJacobians). And data.com[i] gives the center of mass of the subtree supported by joint i (expressed in the world frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	computeSubtreeComs	If true, the algorithm also computes the center of mass of the subtrees, expressed in the world coordinate frame.

Returns

The jacobian of center of mass position of the rigid body system expressed in the world frame (matrix 3 x model.nv).

jacobianCenterOfMass() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x& pinocchio::jacobianCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const bool	computeSubtreeComs = true
	)

Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (.

See also

pinocchio::computeJointJacobians). And data.com[i] gives the center of mass of the subtree supported by joint i (expressed in the world frame).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	computeSubtreeComs	If true, the algorithm also computes the centers of mass of the subtrees, expressed in the world coordinate frame.

Returns

The jacobian of center of mass position of the rigid body system expressed in the world frame (matrix 3 x model.nv).

jacobianSubtreeCenterOfMass() [1/2]

void pinocchio::jacobianSubtreeCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const JointIndex &	rootSubtreeId,
		const Eigen::MatrixBase< Matrix3xLike > &	res
	)

Computes the Jacobian of the center of mass of the given subtree according to a particular joint configuration. In addition, the algorithm also computes the Jacobian of all the joints (.

See also

pinocchio::computeJointJacobians).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	rootSubtreeId	Index of the parent joint supporting the subtree.
[out]	res	The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().

jacobianSubtreeCenterOfMass() [2/2]

void pinocchio::jacobianSubtreeCenterOfMass	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const JointIndex &	rootSubtreeId,
		const Eigen::MatrixBase< Matrix3xLike > &	res
	)

Computes the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that forwardKinematics has been called first.

Template Parameters

JointCollection	Collection of Joint types.
Matrix3xLike	Type of the output Jacobian matrix.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	rootSubtreeId	Index of the parent joint supporting the subtree.
[out]	res	The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().

Jexp3() [1/2]

void pinocchio::Jexp3	(	const Eigen::MatrixBase< Vector3Like > &	r,
		const Eigen::MatrixBase< Matrix3Like > &	Jexp
	)

Derivative of \( \exp{r} \).

\[ \frac{\sin{||r||}}{||r||} I_3 - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x + \frac{1}{||r||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T \]

Definition at line 118 of file explog.hpp.

Jexp3() [2/2]

void pinocchio::Jexp3	(	const Eigen::MatrixBase< Vector3Like > &	r,
		const Eigen::MatrixBase< Matrix3Like > &	Jexp
	)

Derivative of \( \exp{r} \).

\[ \frac{\sin{||r||}}{||r||} I_3 - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x + \frac{1}{||r||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T \]

Definition at line 192 of file explog.hpp.

Jlog3() [1/2]

void pinocchio::Jlog3	(	const Eigen::MatrixBase< Matrix3Like1 > &	R,
		const Eigen::MatrixBase< Matrix3Like2 > &	Jlog
	)

Derivative of log3.

Parameters

[in]	R	the rotation matrix.
[out]	Jlog	the jacobian

Equivalent to

double theta;
Vector3 log = pinocchio::log3 (R, theta);
pinocchio::Jlog3 (theta, log, Jlog);

Definition at line 262 of file explog.hpp.

Jlog3() [2/2]

void pinocchio::Jlog3	(	const Scalar &	theta,
		const Eigen::MatrixBase< Vector3Like > &	log,
		const Eigen::MatrixBase< Matrix3Like > &	Jlog
	)

Derivative of log3.

This function is the right derivative of log3, that is, for \(R \in SO(3)\) and \(\omega t in \mathfrak{so}(3)\), it provides the linear approximation:

\[ \log_3(R \oplus \omega t) = \log_3(R \exp_3(\omega t)) \approx \log_3(R) + \text{Jlog3}(R) \omega t \]

Parameters

[in]	theta	the angle value.
[in]	log	the output of log3.
[out]	Jlog	the jacobian

Equivalently, \(\text{Jlog3}\) is the right Jacobian of \(\log_3\):

\[ \text{Jlog3}(R) = \frac{\partial \log_3(R)}{\partial R} \]

Note that this is the right Jacobian: \(\text{Jlog3}(R) : T_{R} SO(3) \to T_{\log_6(R)} \mathfrak{so}(3)\). (By convention, calculations in Pinocchio always perform right differentiation, i.e., Jacobians are in local coordinates (also known as body coordinates), unless otherwise specified.)

If we denote by \(\theta = \log_3(R)\) and \(\log = \log_3(R, \theta)\), then \(\text{Jlog} = \text{Jlog}_3(R)\) can be calculated as:

\[ \begin{align*} \text{Jlog} & = \frac{\theta \sin(\theta)}{2 (1 - \cos(\theta))} I_3 + \frac{1}{2} \widehat{\log} + \left(\frac{1}{\theta^2} - \frac{\sin(\theta)}{2\theta(1-\cos(\theta))}\right) \log \log^T \\ & = I_3 + \frac{1}{2} \widehat{\log} + \left(\frac{1}{\theta^2} - \frac{1 + \cos \theta}{2 \theta \sin \theta}\right) \widehat{\log}^2 \end{align*} \]

where \(\widehat{v}\) denotes the skew-symmetric matrix obtained from the 3D vector \(v\).

Note

The inputs must be such that \( \theta = \Vert \log \Vert \).

Definition at line 240 of file explog.hpp.

Jlog6() [1/2]

Eigen::Matrix<Scalar, 6, 6, Options> pinocchio::Jlog6

(

const SE3Tpl< Scalar, Options > &

M

)

Derivative of log6.

  This function is the right derivative of log6, that is, for \(M \in SE(3)\) and \(\xi in \mathfrak{se}(3)\), it provides the linear approximation:

\[ \log_6(M \oplus \xi) = \log_6(M \exp_6(\xi)) \approx \log_6(M) + \text{Jlog6}(M) \xi \]

Equivalently, \(\text{Jlog6}\) is the right Jacobian of \(\log_6\):

\[ \text{Jlog6}(M) = \frac{\partial \log_6(M)}{\partial M} \]

Note that this is the right Jacobian: \(\text{Jlog6}(M) : T_{M} SE(3) \to T_{\log_6(M)} \mathfrak{se}(3)\). (By convention, calculations in Pinocchio always perform right differentiation, i.e., Jacobians are in local coordinates (also known as body coordinates), unless otherwise specified.)

Internally, it is calculated using the following formulas:

\[ \text{Jlog6}(M) = \left(\begin{array}{cc} \text{Jlog3}(R) & J * \text{Jlog3}(R) \\ 0 & \text{Jlog3}(R) \\ \end{array}\right) \]

where

\[ M = \left(\begin{array}{cc} \exp(\mathbf{r}) & \mathbf{p} \\ 0 & 1 \\ \end{array}\right) \]

\[ \begin{eqnarray} J &=& \left.\frac{1}{2}[\mathbf{p}]_{\times} + \beta'(||r||) \frac{\mathbf{r}^T\mathbf{p}}{||r||}\mathbf{r}\mathbf{r}^T - (||r||\beta'(||r||) + 2 \beta(||r||)) \mathbf{p}\mathbf{r}^T\right.\\ &&\left. + \mathbf{r}^T\mathbf{p}\beta(||r||)I_3 + \beta(||r||)\mathbf{r}\mathbf{p}^T\right. \end{eqnarray} \]

and

\[ \beta(x)=\left(\frac{1}{x^2} - \frac{\sin x}{2x(1-\cos x)}\right) \]

Remarkable identity:

For \((A,B) \in SE(3)^2\), let \(M_1(A, B) = A B\) and \(m_1 = \log_6(M_1) \). Then, we have the following partial (right) Jacobians:

• \( \frac{\partial m_1}{\partial A} = Jlog_6(M_1) Ad_B^{-1} \),
• \( \frac{\partial m_1}{\partial B} = Jlog_6(M_1) \).

Remarkable identity:

Let \(A \in SE(3)\), \(M_2(A) = A^{-1}\) and \(m_2 = \log_6(M_2)\). Then, we have the following partial (right) Jacobian:

• \( \frac{\partial m_2}{\partial A} = - Jlog_6(M_2) Ad_A \).

Parameters

[in]

M

The rigid transformation.

Definition at line 679 of file explog.hpp.

Jlog6() [2/2]

void pinocchio::Jlog6	(	const SE3Tpl< Scalar, Options > &	M,
		const Eigen::MatrixBase< Matrix6Like > &	Jlog
	)

Derivative of log6.

This function is the right derivative of log6, that is, for \(M \in SE(3)\) and \(\xi in \mathfrak{se}(3)\), it provides the linear approximation:

\[ \log_6(M \oplus \xi) = \log_6(M \exp_6(\xi)) \approx \log_6(M) + \text{Jlog6}(M) \xi \]

Equivalently, \(\text{Jlog6}\) is the right Jacobian of \(\log_6\):

\[ \text{Jlog6}(M) = \frac{\partial \log_6(M)}{\partial M} \]

Note that this is the right Jacobian: \(\text{Jlog6}(M) : T_{M} SE(3) \to T_{\log_6(M)} \mathfrak{se}(3)\). (By convention, calculations in Pinocchio always perform right differentiation, i.e., Jacobians are in local coordinates (also known as body coordinates), unless otherwise specified.)

Internally, it is calculated using the following formulas:

\[ \text{Jlog6}(M) = \left(\begin{array}{cc} \text{Jlog3}(R) & J * \text{Jlog3}(R) \\ 0 & \text{Jlog3}(R) \\ \end{array}\right) \]

where

\[ M = \left(\begin{array}{cc} \exp(\mathbf{r}) & \mathbf{p} \\ 0 & 1 \\ \end{array}\right) \]

\[ \begin{eqnarray} J &=& \left.\frac{1}{2}[\mathbf{p}]_{\times} + \beta'(||r||) \frac{\mathbf{r}^T\mathbf{p}}{||r||}\mathbf{r}\mathbf{r}^T - (||r||\beta'(||r||) + 2 \beta(||r||)) \mathbf{p}\mathbf{r}^T\right.\\ &&\left. + \mathbf{r}^T\mathbf{p}\beta(||r||)I_3 + \beta(||r||)\mathbf{r}\mathbf{p}^T\right. \end{eqnarray} \]

and

\[ \beta(x)=\left(\frac{1}{x^2} - \frac{\sin x}{2x(1-\cos x)}\right) \]

Remarkable identity:

For \((A,B) \in SE(3)^2\), let \(M_1(A, B) = A B\) and \(m_1 = \log_6(M_1) \). Then, we have the following partial (right) Jacobians:

• \( \frac{\partial m_1}{\partial A} = Jlog_6(M_1) Ad_B^{-1} \),
• \( \frac{\partial m_1}{\partial B} = Jlog_6(M_1) \).

Remarkable identity:

Let \(A \in SE(3)\), \(M_2(A) = A^{-1}\) and \(m_2 = \log_6(M_2)\). Then, we have the following partial (right) Jacobian:

• \( \frac{\partial m_2}{\partial A} = - Jlog_6(M_2) Ad_A \).

Definition at line 668 of file explog.hpp.

joint_motin_subspace_xd()

JointMotionSubspaceTpl<Eigen::Dynamic, Scalar, Options> pinocchio::joint_motin_subspace_xd ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint.

Parameters

[in]

jdata

The joint data to visit.

Returns

The constraint dense corresponding to the joint derived constraint

joint_q()

JointDataTpl<Scalar, Options, JointCollectionTpl>::ConfigVector_t pinocchio::joint_q ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataVariant through JointConfigVisitor to get the joint configuration vector.

Parameters

[in]

jdata

The joint data to visit.

Returns

The current value of the joint configuration vector

joint_transform()

SE3Tpl<Scalar, Options> pinocchio::joint_transform ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint).

Parameters

[in]

jdata

The joint data to visit.

Returns

The joint transform corresponding to the joint derived transform (sXp)

joint_v()

JointDataTpl<Scalar, Options, JointCollectionTpl>::TangentVector_t pinocchio::joint_v ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataVariant through JointConfigVisitor to get the joint velocity vector.

Parameters

[in]

jdata

The joint data to visit.

Returns

The current value of the joint velocity vector

jointBodyRegressor()

DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType& pinocchio::jointBodyRegressor ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, JointIndex  joint_id  )

inline

Computes the regressor for the dynamic parameters of a rigid body attached to a given joint, puts the result in data.bodyRegressor and returns it.

This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.

The result is such that \( f = \text{jointBodyRegressor(model,data,joint_id) * I.toDynamicParameters()} \) where \( f \) is the net force acting on the body, including gravity

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	joint_id	The id of the joint.

Returns

The regressor of the body.

log3() [1/2]

Eigen:: Matrix<typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options> pinocchio::log3

(

const Eigen::MatrixBase< Matrix3Like > &

R

)

Log: SO(3)-> so(3).

Pseudo-inverse of log from \( SO3 -> { v \in so3, ||v|| \le pi } \).

Parameters

[in]

R

The rotation matrix.

Returns

The angular velocity vector associated to the rotation matrix.

Definition at line 103 of file explog.hpp.

log3() [2/2]

Eigen:: Matrix<typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options> pinocchio::log3	(	const Eigen::MatrixBase< Matrix3Like > &	R,
		typename Matrix3Like::Scalar &	theta
	)

Same as log3.

Parameters

[in]	R	the rotation matrix.
[out]	theta	the angle value.

Returns

The angular velocity vector associated to the rotation matrix.

Definition at line 83 of file explog.hpp.

log6() [1/3]

MotionTpl<typename Matrix4Like::Scalar, Eigen::internal::traits<Matrix4Like>::Options> pinocchio::log6

(

const Eigen::MatrixBase< Matrix4Like > &

M

)

Log: SE3 -> se3.

Pseudo-inverse of exp from \( SE3 \to { v,\omega \in \mathfrak{se}(3), ||\omega|| < 2\pi } \).

Parameters

[in]

M

The rigid transformation represented as an homogenous matrix.

Returns

The twist associated to the rigid transformation during time 1.

Definition at line 475 of file explog.hpp.

log6() [2/3]

MotionTpl<typename Vector3Like::Scalar, Vector3Like::Options> pinocchio::log6	(	const Eigen::QuaternionBase< QuaternionLike > &	quat,
		const Eigen::MatrixBase< Vector3Like > &	vec
	)

Log: SE3 -> se3.

Pseudo-inverse of exp from \( SE3 \to { v,\omega \in \mathfrak{se}(3), ||\omega|| < 2\pi } \), using the quaternion representation of the rotation.

Parameters

[in]	quat	The rotation quaternion.
[in]	vec	The translation vector.

Returns

The twist associated to the rigid transformation during time 1.

Definition at line 454 of file explog.hpp.

log6() [3/3]

MotionTpl<Scalar, Options> pinocchio::log6

(

const SE3Tpl< Scalar, Options > &

M

)

Log: SE3 -> se3.

Pseudo-inverse of exp from \( SE3 \to { v,\omega \in \mathfrak{se}(3), ||\omega|| < 2\pi } \).

Parameters

[in]

M

The rigid transformation.

Returns

The twist associated to the rigid transformation during time 1.

Definition at line 435 of file explog.hpp.

motion()

MotionTpl<Scalar, Options> pinocchio::motion ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion.

Parameters

[in]

jdata

The joint data to visit.

Returns

The motion dense corresponding to the joint derived motion

name()

std::string pinocchio::name ( const LieGroupGenericTpl< LieGroupCollection > &  lg )

inline

Visit a LieGroupVariant to get the name of it.

Parameters

[in]

lg

the LieGroupVariant.

Returns

The Lie group name

neutral() [1/5]

Eigen:: Matrix<typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options> pinocchio::neutral ( const LieGroupGenericTpl< LieGroupCollection > &  lg )

inline

Visit a LieGroupVariant to get the neutral element of it.

Parameters

[in]

lg

the LieGroupVariant.

Returns

The Lie group neutral element

neutral() [2/5]

Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> pinocchio::neutral

(

const ModelTpl< Scalar, Options, JointCollectionTpl > &

model

)

Return the neutral configuration element related to the model configuration space.

Parameters

[in]

model

Model of the kinematic tree on which the neutral element is computed.

Returns

The neutral configuration element (size model.nq).

Definition at line 1471 of file joint-configuration.hpp.

neutral() [3/5]

Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> pinocchio::neutral

(

const ModelTpl< Scalar, Options, JointCollectionTpl > &

model

)

Return the neutral configuration element related to the model configuration space.

Parameters

[in]

model

Model of the kinematic tree on which the neutral element is computed.

Returns

The neutral configuration element (size model.nq).

Definition at line 1471 of file joint-configuration.hpp.

neutral() [4/5]

void pinocchio::neutral	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Return the neutral configuration element related to the model configuration space.

Parameters

[in]	model	Model of the kinematic tree on which the neutral element is computed
[out]	qout	The neutral configuration element (size model.nq).
[in]	model	Model of the kinematic tree on which the neutral element is computed.
[out]	qout	The neutral configuration element (size model.nq).

Definition at line 375 of file joint-configuration.hpp.

neutral() [5/5]

void pinocchio::neutral	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Return the neutral configuration element related to the model configuration space.

Parameters

[in]	model	Model of the kinematic tree on which the neutral element is computed.
[out]	qout	The neutral configuration element (size model.nq).

Definition at line 375 of file joint-configuration.hpp.

nonLinearEffects()

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::nonLinearEffects	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the bias terms \( b(q,\dot{q}) \) of the Lagrangian dynamics:

\( \begin{eqnarray} M \ddot{q} + b(q, \dot{q}) = \tau \end{eqnarray} \)

Note

This function is equivalent to pinocchio::rnea(model, data, q, v, 0).

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType	Type of the joint velocity vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).

Returns

The bias terms stored in data.nle.

normalize() [1/3]

void pinocchio::normalize ( const Eigen::MatrixBase< VectorLike > &  vec )

inline

Normalize the input vector.

Parameters

[in]

vec

Input vector

Definition at line 249 of file matrix.hpp.

normalize() [2/3]

void pinocchio::normalize	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	qout
	)

Normalize a configuration vector.

Parameters

[in]	model	Model of the kinematic tree.
[in,out]	q	Configuration to normalize (size model.nq).

Definition at line 914 of file joint-configuration.hpp.

normalize() [3/3]

void pinocchio::normalize	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	qout
	)

Normalize a configuration vector.

Parameters

[in]	model	Model of the kinematic tree.
[in,out]	q	Configuration to normalize (size model.nq).

Definition at line 914 of file joint-configuration.hpp.

normalizeRotation()

void pinocchio::normalizeRotation

(

const Eigen::MatrixBase< Matrix3 > &

rot

)

Orthogonormalization procedure for a rotation matrix (closed enough to SO(3)).

Parameters

[in,out]

rot

A 3x3 matrix to orthonormalize

Definition at line 80 of file rotation.hpp.

nq() [1/2]

int pinocchio::nq ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space.

Parameters

[in]

jmodel

The JointModelVariant

Returns

The dimension of joint configuration space

nq() [2/2]

int pinocchio::nq ( const LieGroupGenericTpl< LieGroupCollection > &  lg )

inline

Visit a LieGroupVariant to get the dimension of the Lie group configuration space.

Parameters

[in]

lg

the LieGroupVariant.

Returns

The dimension of the Lie group configuration space

nv() [1/2]

int pinocchio::nv ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space.

Parameters

[in]

jmodel

The JointModelVariant

Returns

The dimension of joint tangent space

nv() [2/2]

int pinocchio::nv ( const LieGroupGenericTpl< LieGroupCollection > &  lg )

inline

Visit a LieGroupVariant to get the dimension of the Lie group tangent space.

Parameters

[in]

lg

the LieGroupVariant.

Returns

The dimension of the Lie group tangent space

operator*() [1/2]

MultiplicationOp<Eigen::MatrixBase<MatrixDerived>, ConstraintDerived>::ReturnType pinocchio::operator*	(	const Eigen::MatrixBase< MatrixDerived > &	Y,
		const JointMotionSubspaceBase< ConstraintDerived > &	constraint
	)

 

Operation Y_matrix * S used in the ABA algorithm for instance

Definition at line 161 of file joint-motion-subspace-base.hpp.

operator*() [2/2]

MultiplicationOp<InertiaTpl<Scalar, Options>, ConstraintDerived>::ReturnType pinocchio::operator*	(	const InertiaTpl< Scalar, Options > &	Y,
		const JointMotionSubspaceBase< ConstraintDerived > &	constraint
	)

 

Operation Y * S used in the CRBA algorithm for instance

Definition at line 150 of file joint-motion-subspace-base.hpp.

orthogonalProjection()

Matrix3 pinocchio::orthogonalProjection

(

const Eigen::MatrixBase< Matrix3 > &

mat

)

Orthogonal projection of a matrix on the SO(3) manifold.

Parameters

[in]

mat

A 3x3 matrix to project on SO(3).

Returns

the orthogonal projection of mat on SO(3)

Definition at line 105 of file rotation.hpp.

orthonormalisation()

void pinocchio::orthonormalisation	(	const Eigen::MatrixBase< MatrixType > &	basis,
		const Eigen::MatrixBase< VectorType > &	vec_
	)

Perform the Gram-Schmidt orthonormalisation on the input/output vector for a given input basis.

 

 

Parameters

[in]	basis	Orthonormal basis
[in,out]	vec	Vector to orthonomarlize wrt the input basis

Definition at line 20 of file gram-schmidt-orthonormalisation.hpp.

PI()

const Scalar pinocchio::PI

(

)

Returns the value of PI according to the template parameters Scalar.

Template Parameters

Scalar

The scalar type of the return pi value

Definition at line 27 of file fwd.hpp.

PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS() [1/4]

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS

(

(typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)

)

const

Generate a configuration vector uniformly sampled among given limits.

Remarks

Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning

If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the kinematic tree on which the uniform sampling operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).

Returns

The resulting configuration vector (size model.nq).

PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS() [2/4]

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS

(

(typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)

)

const

Generate a configuration vector uniformly sampled among provided limits.

Remarks

Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning

If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the kinematic tree on which the uniform sampling operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).

Returns

The resulting configuration vector (size model.nq)

PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS() [3/4]

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS

(

(typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)

)

const

Generate a configuration vector uniformly sampled among the joint limits of the specified Model.

Remarks

Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning

If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit}, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]

model

Model of the kinematic tree on which the uniform sampling operation is performed.

Returns

The resulting configuration vector (size model.nq)

PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS() [4/4]

pinocchio::PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS

(

(typename ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType)

)

const

Generate a configuration vector uniformly sampled among the joint limits of the specified Model.

Remarks

Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning

If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit}, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]

model

Model of the kinematic tree on which the uniform sampling operation is performed.

Returns

The resulting configuration vector (size model.nq).

PINOCCHIO_UNSUPPORTED_MESSAGE()

struct pinocchio::PINOCCHIO_UNSUPPORTED_MESSAGE

(

"The API will change towards more flexibility"

)

Contact Cholesky decomposition structure. This structure allows to compute in a efficient and parsimonious way the Cholesky decomposition of the KKT matrix related to the contact dynamics. Such a decomposition is usefull when computing both the forward dynamics in contact or the related analytical derivatives.

 

Template Parameters

_Scalar	Scalar type.
_Options	Alignment Options of the Eigen objects contained in the data structure.

Data information related to the Sparsity structure of the Cholesky decompostion

Definition at line 1 of file contact-cholesky.hpp.

pv()

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::pv ( 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 std::vector< RigidConstraintModelTpl< Scalar, Options >, ContactModelAllocator > &  contact_models, std::vector< RigidConstraintDataTpl< Scalar, Options >, ContactDataAllocator > &  contact_datas, ProximalSettingsTpl< Scalar > &  settings  )

inline

The Popov-Vereshchagin algorithm. It computes constrained forward dynamics, aka the joint accelerations and constraint forces given the current state, actuation and the constraints on the system. All the quantities are expressed in the LOCAL coordinate systems of the joint frames.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint torque vector.
Allocator	Allocator class for the std::vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	contact_models	Vector of contact models.
[in]	contact_datas	Vector of contact data.
[in]	settings	Proximal settings (mu, accuracy and maximal number of iterations).

Note

This also overwrites data.f, possibly leaving it in an inconsistent state.

Returns

A reference to the joint acceleration stored in data.ddq. data.lambdaA[0] stores the constraint forces.

randomConfiguration() [1/2]

void pinocchio::randomConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	lowerLimits,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	upperLimits,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Generate a configuration vector uniformly sampled among provided limits.

Remarks

Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning

If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample.

Parameters

[in]	model	Model of the system on which the random configuration operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).
[out]	qout	The resulting configuration vector (size model.nq).

Remarks

Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning

If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the system on which the random configuration operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).
[out]	qout	The resulting configuration vector (size model.nq).

Definition at line 325 of file joint-configuration.hpp.

randomConfiguration() [2/2]

void pinocchio::randomConfiguration	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	lowerLimits,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	upperLimits,
		const Eigen::MatrixBase< ReturnType > &	qout
	)

Generate a configuration vector uniformly sampled among provided limits.

Remarks

Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.

Warning

If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample

Parameters

[in]	model	Model of the system on which the random configuration operation is performed.
[in]	lowerLimits	Joints lower limits (size model.nq).
[in]	upperLimits	Joints upper limits (size model.nq).
[out]	qout	The resulting configuration vector (size model.nq).

Definition at line 325 of file joint-configuration.hpp.

randomStringGenerator()

std::string pinocchio::randomStringGenerator ( const int  len )

inline

Generate a random string composed of alphanumeric symbols of a given length.

Parameters

[in]

len

The length of the output string.

Returns

a random string composed of alphanumeric symbols.

Definition at line 21 of file string-generator.hpp.

reachableWorkspace()

void pinocchio::reachableWorkspace	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q0,
		const double	time_horizon,
		const int	frame_id,
		Eigen::MatrixXd &	vertex,
		const ReachableSetParams &	params = ReachableSetParams()
	)

Computes the reachable workspace on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	q	The initial joint configuration vector (dim model.nq).
[in]	frame_id	Index of the frame for which the workspace should be computed.
[in]	time_horizon	time horizon for which the polytope will be computed (in seconds)
[in]	params	parameters of the algorithm
[out]	points	inside of the reachable workspace

reachableWorkspaceHull()

void pinocchio::reachableWorkspaceHull	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q0,
		const double	time_horizon,
		const int	frame_id,
		ReachableSetResults &	res,
		const ReachableSetParams &	params = ReachableSetParams()
	)

Computes the convex Hull reachable workspace on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	q	The initial joint configuration vector (dim model.nq).
[in]	frame_id	Index of the frame for which the workspace should be computed.
[in]	time_horizon	time horizon for which the polytope will be computed (in seconds)
[in]	params	parameters of the algorithm
[out]	res	Results of algorithm

reachableWorkspaceWithCollisions()

void pinocchio::reachableWorkspaceWithCollisions	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const GeometryModel &	geom_model,
		const Eigen::MatrixBase< ConfigVectorType > &	q0,
		const double	time_horizon,
		const int	frame_id,
		Eigen::MatrixXd &	vertex,
		const ReachableSetParams &	params = ReachableSetParams()
	)

Computes the reachable workspace with respect to a geometry model on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	q	The initial joint configuration vector (dim model.nq).
[in]	frame_id	Index of the frame for which the workspace should be computed.
[in]	time_horizon	time horizon for which the polytope will be computed (in seconds)
[in]	params	parameters of the algorithm
[out]	points	inside of the reachable workspace

reachableWorkspaceWithCollisionsHull()

void pinocchio::reachableWorkspaceWithCollisionsHull	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const GeometryModel &	geom_model,
		const Eigen::MatrixBase< ConfigVectorType > &	q0,
		const double	time_horizon,
		const int	frame_id,
		ReachableSetResults &	res,
		const ReachableSetParams &	params = ReachableSetParams()
	)

Computes the convex Hull of the reachable workspace with respect to a geometry model on a fixed time horizon. Make sure that reachable workspace takes into account collisions with environment. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	geom_model	Geometry model, to take into accout collision with the environment
[in]	q	The initial joint configuration vector (dim model.nq).
[in]	frame_id	Index of the frame for which the workspace should be computed.
[in]	time_horizon	time horizon for which the polytope will be computed (in seconds)
[in]	params	parameters of the algorithm
[out]	res	Results of algorithm

replace()

bool pinocchio::replace ( std::string &  input_str, const std::string &  from, const std::string &  to  )

inline

Replace string from with to in input_str.

Parameters

[in]	input_str	string on which replace operates.
[in]	from	The string to replace.
[in]	to	The string to replace the old value with.

Returns

true if from has been found within input_str

Definition at line 22 of file string.hpp.

retrieveLargestEigenvalue()

VectorLike::Scalar pinocchio::retrieveLargestEigenvalue

(

const Eigen::MatrixBase< VectorLike > &

eigenvector

)

Compute the lagest eigenvalue of a given matrix. This is taking the eigenvector computed by the function computeLargestEigenvector.

 

Definition at line 206 of file eigenvalues.hpp.

retrieveResourcePath()

std::string pinocchio::retrieveResourcePath ( const std::string &  string, const std::vector< std::string > &  package_dirs  )

inline

Retrieve the path of the file whose path is given in URL-format. Currently convert from the following patterns : package:// or file://.

Parameters

[in]	string	The path given in the url-format
[in]	package_dirs	A list of packages directories where to search for files if its pattern starts with package://

Returns

The path to the file (can be a relative or absolute path)

Definition at line 60 of file utils.hpp.

rnea() [1/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::rnea	(	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 > &	a
	)

The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).

Returns

The desired joint torques stored in data.tau.

rnea() [2/2]

const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType& pinocchio::rnea	(	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 > &	a,
		const container::aligned_vector< ForceDerived > &	fext
	)

The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system, the desired joint accelerations and the external forces.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
TangentVectorType1	Type of the joint velocity vector.
TangentVectorType2	Type of the joint acceleration vector.
ForceDerived	Type of the external forces.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).
[in]	v	The joint velocity vector (dim model.nv).
[in]	a	The joint acceleration vector (dim model.nv).
[in]	fext	Vector of external forces expressed in the local frame of the joints (dim model.njoints)

Returns

The desired joint torques stored in data.tau.

rneaInParallel()

void pinocchio::rneaInParallel	(	const size_t	num_threads,
		ModelPoolTpl< Scalar, Options, JointCollectionTpl > &	pool,
		const Eigen::MatrixBase< ConfigVectorPool > &	q,
		const Eigen::MatrixBase< TangentVectorPool1 > &	v,
		const Eigen::MatrixBase< TangentVectorPool2 > &	a,
		const Eigen::MatrixBase< TangentVectorPool3 > &	tau
	)

The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorPool	Matrix type of the joint configuration vector.
TangentVectorPool1	Matrix type of the joint velocity vector.
TangentVectorPool2	Matrix type of the joint acceleration vector.
TangentVectorPool3	Matrix type of the joint torque vector.

Parameters

[in]	pool	Pool containing model and data for parallel computations.
[in]	num_threads	Number of threads used for parallel computations.
[in]	q	The joint configuration vector (dim model.nq x batch_size).
[in]	v	The joint velocity vector (dim model.nv x batch_size).
[in]	a	The joint acceleration vector (dim model.nv x batch_size).
[out]	tau	The joint torque vector (dim model.nv x batch_size).

Definition at line 40 of file rnea.hpp.

rosPaths()

PINOCCHIO_PARSERS_DLLAPI std::vector<std::string> pinocchio::rosPaths

(

)

Parse the environment variables ROS_PACKAGE_PATH / AMENT_PREFIX_PATH and extract paths.

Returns

The vector of paths extracted from the environment variables ROS_PACKAGE_PATH / AMENT_PREFIX_PATH

setIndexes()

void pinocchio::setIndexes ( JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel, JointIndex  id, int  q, int  v  )

inline

Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain.

Parameters

[in]	jmodel	The JointModelVariant
[in]	id	The index of joint in the kinematic chain
[in]	q	The index in the full model configuration space corresponding to the first degree of freedom
[in]	v	The index in the full model tangent space corresponding to the first joint tangent space degree

Returns

The index of the joint in the kinematic chain

shortname()

std::string pinocchio::shortname ( const JointModelTpl< Scalar, Options, JointCollectionTpl > &  jmodel )

inline

Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model.

Parameters

jmodel

The JointModelVariant we want the shortname of the type held in

SINCOS()

void pinocchio::SINCOS	(	const S1 &	a,
		S2 *	sa,
		S3 *	ca
	)

Computes sin/cos values of a given input scalar.

Template Parameters

Scalar

Type of the input/output variables

Parameters

[in]	a	The input scalar from which we evalute the sin and cos.
[out]	sa	Variable containing the sin of a.
[out]	ca	Variable containing the cos of a.

Definition at line 27 of file sincos.hpp.

skew() [1/2]

Eigen::Matrix<typename D::Scalar, 3, 3, D ::Options> pinocchio::skew ( const Eigen::MatrixBase< D > &  v )

inline

Computes the skew representation of a given 3D vector, i.e. the antisymmetric matrix representation of the cross product operator.

Parameters

[in]

v

a vector of dimension 3.

Returns

The skew matrix representation of v.

Definition at line 51 of file skew.hpp.

skew() [2/2]

void pinocchio::skew ( const Eigen::MatrixBase< Vector3 > &  v, const Eigen::MatrixBase< Matrix3 > &  M  )

inline

Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation of the cross product operator ( \( [v]_{\times} x = v \times x \))

Parameters

[in]	v	a vector of dimension 3.
[out]	M	the skew matrix representation of dimension 3x3.

Definition at line 22 of file skew.hpp.

skewSquare() [1/2]

Eigen::Matrix<typename V1::Scalar, 3, 3, V1 ::Options> pinocchio::skewSquare ( const Eigen::MatrixBase< V1 > &  u, const Eigen::MatrixBase< V2 > &  v  )

inline

Computes the square cross product linear operator C(u,v) such that for any vector w, \( u \times ( v \times w ) = C(u,v) w \).

Parameters

[in]	u	A 3 dimensional vector.
[in]	v	A 3 dimensional vector.

Returns

The square cross product matrix skew[u] * skew[v].

Definition at line 210 of file skew.hpp.

skewSquare() [2/2]

void pinocchio::skewSquare ( const Eigen::MatrixBase< V1 > &  u, const Eigen::MatrixBase< V2 > &  v, const Eigen::MatrixBase< Matrix3 > &  C  )

inline

Computes the square cross product linear operator C(u,v) such that for any vector w, \( u \times ( v \times w ) = C(u,v) w \).

Parameters

[in]	u	a 3 dimensional vector.
[in]	v	a 3 dimensional vector.
[out]	C	the skew square matrix representation of dimension 3x3.

Definition at line 182 of file skew.hpp.

squaredDistance() [1/4]

ConfigVectorIn1 pinocchio::squaredDistance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Squared distance between two configurations.

Parameters

[in]	model	Model of the kinematic tree on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns

The corresponding squared distances for each joint (size model.njoints-1, corresponding to the number of joints)

Squared distance between two configurations.

Parameters

[in]	model	Model of the kinematic tree on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns

The corresponding squared distances for each joint (size model.njoints-1, corresponding to the number of joints)

Definition at line 1308 of file joint-configuration.hpp.

squaredDistance() [2/4]

ConfigVectorIn1 pinocchio::squaredDistance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Squared distance between two configuration vectors.

Squared distance between two configurations.

Parameters

[in]	model	Model of the kinematic tree on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns

The corresponding squared distances for each joint (size model.njoints-1, corresponding to the number of joints)

Definition at line 1308 of file joint-configuration.hpp.

squaredDistance() [3/4]

void pinocchio::squaredDistance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	out
	)

Squared distance between two configuration vectors.

Parameters

[in]	model	Model of the system on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)
[out]	out	The corresponding squared distances for each joint (size model.njoints-1 = number of joints).

Definition at line 257 of file joint-configuration.hpp.

squaredDistance() [4/4]

void pinocchio::squaredDistance	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1,
		const Eigen::MatrixBase< ReturnType > &	out
	)

Squared distance between two configuration vectors.

Parameters

[in]	model	Model of the system on which the squared distance operation is performed.
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)
[out]	out	The corresponding squared distances for each joint (size model.njoints-1 = number of joints).

Definition at line 257 of file joint-configuration.hpp.

squaredDistanceSum() [1/2]

Scalar pinocchio::squaredDistanceSum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Overall squared distance between two configuration vectors.

Parameters

[in]	model	Model we want to compute the distance
[in]	q0	Configuration 0 (size model.nq)
[in]	q1	Configuration 1 (size model.nq)

Returns

The squared distance between the two configurations

Overall squared distance between two configuration vectors.

Parameters

[in]	model	Model of the kinematic tree
[in]	q0	Configuration from (size model.nq)
[in]	q1	Configuration to (size model.nq)

Returns

The squared distance between the two configurations q0 and q1.

Definition at line 818 of file joint-configuration.hpp.

squaredDistanceSum() [2/2]

Scalar pinocchio::squaredDistanceSum	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorIn1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorIn2 > &	q1
	)

Overall squared distance between two configuration vectors, namely \( || q_{1} \ominus q_{0} ||_2^{2} \).

Overall squared distance between two configuration vectors.

Parameters

[in]	model	Model of the kinematic tree
[in]	q0	Configuration from (size model.nq)
[in]	q1	Configuration to (size model.nq)

Returns

The squared distance between the two configurations q0 and q1.

Definition at line 818 of file joint-configuration.hpp.

stu_inertia()

Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> pinocchio::stu_inertia ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataTpl through JointStUInertiaVisitor to get St*I*S matrix of the inertia matrix decomposition.

Parameters

[in]

jdata

The joint data to visit.

Returns

The St*I*S matrix

toRotationMatrix() [1/2]

void pinocchio::toRotationMatrix	(	const Eigen::MatrixBase< Vector3 > &	axis,
		const Scalar &	angle,
		const Eigen::MatrixBase< Matrix3 > &	res
	)

Computes a rotation matrix from a vector and the angular value orientations values.

Remarks

This code is issue from Eigen::AxisAngle::toRotationMatrix

Definition at line 64 of file rotation.hpp.

toRotationMatrix() [2/2]

void pinocchio::toRotationMatrix	(	const Eigen::MatrixBase< Vector3 > &	axis,
		const Scalar &	cos_value,
		const Scalar &	sin_value,
		const Eigen::MatrixBase< Matrix3 > &	res
	)

Computes a rotation matrix from a vector and values of sin and cos orientations values.

Remarks

This code is issue from Eigen::AxisAngle::toRotationMatrix

Definition at line 26 of file rotation.hpp.

triangularMatrixMatrixProduct()

void pinocchio::triangularMatrixMatrixProduct ( const Eigen::MatrixBase< LhsMatrix > &  lhs_mat, const Eigen::MatrixBase< RhsMatrix > &  rhs_mat, const Eigen::MatrixBase< ResMat > &  res  )

inline

Evaluate the product of a triangular matrix times a matrix. Eigen showing a bug at this level, in the case of vector entry.

Parameters

[in]	lhs_mat	Input tringular matrix
[in]	rhs_mat	Right hand side operand in the multplication
[in]	res	Resulting matrix

Definition at line 59 of file triangular-matrix.hpp.

u_inertia()

Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::u_inertia ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition.

Parameters

[in]

jdata

The joint data to visit.

Returns

The U matrix of the inertia matrix decomposition

udinv_inertia()

Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::udinv_inertia ( const JointDataTpl< Scalar, Options, JointCollectionTpl > &  jdata )

inline

Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition.

Parameters

[in]

jdata

The joint data to visit.

Returns

The U*D^{-1} matrix of the inertia matrix decomposition

unSkew() [1/2]

Eigen::Matrix<typename Matrix3::Scalar, 3, 1, Matrix3 ::Options> pinocchio::unSkew ( const Eigen::MatrixBase< Matrix3 > &  M )

inline

Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes \( v \) such that \( M x = v \times x \).

Parameters

[in]

M

a 3x3 matrix.

Returns

The vector entries of the skew-symmetric matrix.

Definition at line 117 of file skew.hpp.

unSkew() [2/2]

void pinocchio::unSkew ( const Eigen::MatrixBase< Matrix3 > &  M, const Eigen::MatrixBase< Vector3 > &  v  )

inline

Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes \( v \) such that \( M x = v \times x \).

Parameters

[in]	M	a 3x3 skew symmetric matrix.
[out]	v	the 3d vector representation of M.

Definition at line 93 of file skew.hpp.

updateFramePlacement()

const DataTpl<Scalar, Options, JointCollectionTpl>::SE3& pinocchio::updateFramePlacement ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const FrameIndex  frame_id  )

inline

Updates the placement of the given frame.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.
[in]	frame_id	Id of the operational Frame.

Returns

A reference to the frame placement stored in data.oMf[frame_id]

Warning

One of the algorithms forwardKinematics should have been called first

updateFramePlacements()

void pinocchio::updateFramePlacements ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data  )

inline

Updates the position of each frame contained in the model.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.

Warning

One of the algorithms forwardKinematics should have been called first.

updateGeometryPlacements() [1/2]

void pinocchio::updateGeometryPlacements ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const GeometryModel &  geom_model, GeometryData &  geom_data  )

inline

Update the placement of the geometry objects according to the current joint placements contained in data.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	geom_model	The geometry model containing the collision objects.
[out]	geom_data	The geometry data containing the placements of the collision objects. See oMg field in GeometryData.

updateGeometryPlacements() [2/2]

void pinocchio::updateGeometryPlacements ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const GeometryModel &  geom_model, GeometryData &  geom_data, const Eigen::MatrixBase< ConfigVectorType > &  q  )

inline

Apply a forward kinematics and update the placement of the geometry objects.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	geom_model	The geometry model containing the collision objects.
[out]	geom_data	The geometry data containing the placements of the collision objects. See oMg field in GeometryData.
[in]	q	The joint configuration vector (dim model.nq).

updateGlobalPlacements()

void pinocchio::updateGlobalPlacements	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data
	)

Update the global placement of the joints oMi according to the relative placements of the joints.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.

Remarks

This algorithm may be useful to call to update global joint placement after calling pinocchio::rnea, pinocchio::aba, etc for example.

Variable Documentation

Dynamic

const int Dynamic = -1

This value means that a positive quantity (e.g., a size) is not known at compile-time, and that instead the value is stored in some runtime variable.

Definition at line 140 of file fwd.hpp.

model

JointCollectionTpl & model

Initial value:

{
    return randomConfiguration<LieGroupMap, Scalar, Options, JointCollectionTpl>(model)

Definition at line 1347 of file joint-configuration.hpp.

upperLimits

JointCollectionTpl const Eigen::MatrixBase< ConfigVectorIn1 > const Eigen::MatrixBase< ConfigVectorIn2 > & upperLimits

Initial value:

{
    return randomConfiguration<
      LieGroupMap, Scalar, Options, JointCollectionTpl, ConfigVectorIn1, ConfigVectorIn2>(
      model, lowerLimits.derived(), upperLimits.derived())

Definition at line 1349 of file joint-configuration.hpp.