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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 > |
void | aba (const int 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...
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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) |
| The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model. More...
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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) |
| The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model. More...
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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...
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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...
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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...
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void | appendGeometryModel (GeometryModel &geom_model1, const GeometryModel &geom_model2) |
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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...
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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...
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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...
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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...
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template<int axis> |
char | axisLabel () |
| Generate the label (X, Y or Z) of the axis relative to its index. More...
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template<> |
char | axisLabel< 0 > () |
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template<> |
char | axisLabel< 1 > () |
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template<> |
char | axisLabel< 2 > () |
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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...
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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...
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template<typename MotionVelocity , typename MotionAcceleration , typename OutputType > |
void | bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > ®ressor) |
| Computes the regressor for the dynamic parameters of a single rigid body. More...
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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...
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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...
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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...
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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...
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template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename Matrix6Type > |
void | calc_aba (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I) |
| Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to. More...
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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...
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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...
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template<typename NewScalar , typename Scalar > |
NewScalar | cast (const Scalar &value) |
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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...
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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...
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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...
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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...
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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...
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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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
PINOCCHIO_DEPRECATED void | centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, int kinematic_level, const bool computeSubtreeComs=true) |
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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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
bool | checkData (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data) |
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ModelFileExtensionType | checkModelFileExtension (const std::string &filename) |
| Extract the type of the given model file according to its extension. More...
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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...
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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) |
| The derivatives of the Articulated-Body algorithm. More...
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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...
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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...
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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...
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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...
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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) |
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType > |
const PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::Force & | computeCentroidalDynamics (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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 > |
const PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::Force & | computeCentroidalDynamics (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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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bool | computeCollisions (const int num_threads, const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false) |
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > |
bool | computeCollisions (const int 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) |
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename CollisionVectorResult > |
void | computeCollisions (const int num_threads, GeometryPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< CollisionVectorResult > &res, const bool stopAtFirstCollision=false) |
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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) |
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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...
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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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
std::size_t | computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data) |
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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) |
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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...
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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...
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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...
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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...
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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) |
| 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...
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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...
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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...
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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 jointId, 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...
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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...
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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...
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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...
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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...
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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...
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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...
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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) |
| 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...
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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...
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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) |
| 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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> |
ConstraintTpl< Eigen::Dynamic, Scalar, Options > | constraint_xd (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
PINOCCHIO_DEPRECATED void | copy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &origin, DataTpl< Scalar, Options, JointCollectionTpl > &dest, int kinematic_level) |
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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...
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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) |
| 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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > |
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & | crbaMinimal (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q) |
| 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...
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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...
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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...
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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...
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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...
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template<ArgumentPosition arg, 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) |
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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) |
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template<ArgumentPosition arg, 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) |
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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) |
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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) |
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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) |
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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) |
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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) |
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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) |
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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...
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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) |
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template<typename Vector3Like > |
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options > | exp3 (const Eigen::MatrixBase< Vector3Like > &v) |
| Exp: so3 -> SO3. More...
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template<typename Vector6Like > |
SE3Tpl< typename Vector6Like::Scalar, Vector6Like ::Options > | exp6 (const Eigen::MatrixBase< Vector6Like > &v) |
| Exp: se3 -> SE3. More...
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template<typename MotionDerived > |
SE3Tpl< typename MotionDerived::Scalar, typename MotionDerived::Vector3 ::Options > | exp6 (const MotionDense< MotionDerived > &nu) |
| Exp: se3 -> SE3. More...
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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...
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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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ConstraintMatrixType , typename DriftVectorType > |
const PINOCCHIO_DEPRECATED 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, const bool updateKinematics) |
| Compute the forward dynamics with contact constraints. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ConstraintMatrixType , typename DriftVectorType > |
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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename TangentVectorType , typename ConstraintMatrixType , typename DriftVectorType > |
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...
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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...
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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...
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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...
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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 frameId) |
| 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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike > |
PINOCCHIO_DEPRECATED void | frameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J) |
| This function is now deprecated and has been renamed computeFrameJacobian. This signature will be removed in future release of Pinocchio. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
PINOCCHIO_DEPRECATED void | framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data) |
| Updates the position of each frame contained in the model. This function is now deprecated and has been renamed updateFramePlacements. More...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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 data structure. More...
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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...
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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...
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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...
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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 rf, const Eigen::MatrixBase< Matrix6xLike > &J) |
| Returns the jacobian of the frame expressed either expressed in the LOCAL frame coordinate system or in the WORLD coordinate system, depending on the value of rf. You must first call pinocchio::computeJointJacobians followed by pinocchio::framesForwardKinematics to update placement values in data structure. More...
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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 LOCAL frame. More...
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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...
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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 velocity quantity with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. More...
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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...
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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...
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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...
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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...
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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 typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6Like > &J) |
| Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame or in the local frame (rf = LOCAL) of the joint. More...
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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 jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6Like > &dJ) |
| Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint. More...
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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...
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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...
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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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConstraintMatrixType , typename KKTMatrixType > |
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. It computes the following matrix:
More...
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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.
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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...
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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...
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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...
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template<typename Derived > |
bool | hasNaN (const Eigen::DenseBase< Derived > &m) |
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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...
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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...
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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) |
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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...
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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...
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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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType > |
const PINOCCHIO_DEPRECATED 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, const bool updateKinematics) |
| Compute the impulse dynamics with contact constraints. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType > |
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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType > |
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...
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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...
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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) |
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template<typename MatrixIn , typename MatrixOut > |
void | inverse (const Eigen::MatrixBase< MatrixIn > &m_in, const Eigen::MatrixBase< MatrixOut > &dest) |
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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...
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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...
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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...
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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()) |
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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) |
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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...
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template<typename MatrixLike > |
bool | isZero (const Eigen::MatrixBase< MatrixLike > &m, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision()) |
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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...
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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...
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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...
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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...
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template<AssignmentOperatorType op, typename Vector3Like , typename Matrix3Like > |
void | Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp) |
| Derivative of \( \exp{r} \). More...
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template<typename Vector3Like , typename Matrix3Like > |
void | Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp) |
| Derivative of \( \exp{r} \). More...
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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.
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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.
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template<typename Matrix3Like1 , typename Matrix3Like2 > |
void | Jlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Matrix3Like2 > &Jlog) |
| Derivative of log3. More...
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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...
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template<typename Scalar , int Options, typename Matrix6Like > |
void | Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog) |
| Derivative of log6. More...
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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...
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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 jointId) |
| 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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6Like > |
PINOCCHIO_DEPRECATED void | jointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex jointId, const Eigen::MatrixBase< Matrix6Like > &J) |
| This function is now deprecated and has been renamed into computeJointJacobian. It will be removed in future releases of Pinocchio. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType > |
PINOCCHIO_DEPRECATED Scalar | kineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const bool update_kinematics) |
| Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...
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template<typename Matrix3Like > |
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options > | log3 (const Eigen::MatrixBase< Matrix3Like > &R) |
| Log: SO(3)-> so(3). More...
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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...
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template<typename Matrix4Like > |
MotionTpl< typename Matrix4Like::Scalar, Eigen::internal::traits< Matrix4Like >::Options > | log6 (const Eigen::MatrixBase< Matrix4Like > &M) |
| Log: SE3 -> se3. More...
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template<typename Scalar , int Options> |
MotionTpl< Scalar, Options > | log6 (const SE3Tpl< Scalar, Options > &M) |
| Log: SE3 -> se3. More...
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AlgorithmCheckerList< ParentChecker, CRBAChecker, ABAChecker > | makeDefaultCheckerList () |
| Default checker-list, used as the default argument in Model::check().
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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...
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template<typename LieGroupCollection > |
std::string | name (const LieGroupGenericTpl< LieGroupCollection > &lg) |
| Visit a LieGroupVariant to get the name of it. More...
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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...
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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...
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template<typename LieGroupCollection , class Config_t > |
void | normalize (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout) |
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template<typename Matrix3 > |
void | normalizeRotation (const Eigen::MatrixBase< Matrix3 > &rot) |
| Orthogonormalization procedure for a rotation matrix (closed enough to SO(3)). More...
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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...
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template<typename LieGroupCollection > |
int | nq (const LieGroupGenericTpl< LieGroupCollection > &lg) |
| Visit a LieGroupVariant to get the dimension of the Lie group configuration space. More...
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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...
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template<typename LieGroupCollection > |
int | nv (const LieGroupGenericTpl< LieGroupCollection > &lg) |
| Visit a LieGroupVariant to get the dimension of the Lie group tangent space. More...
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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) |
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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) |
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template<typename Scalar , int Options, typename Vector6Like > |
MotionRef< const Vector6Like > | operator* (const ConstraintIdentityTpl< Scalar, Options > &, const Eigen::MatrixBase< Vector6Like > &v) |
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template<typename M6Like , typename S2 , int O2> |
Eigen::Matrix< S2, 6, 3, O2 > | operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintPlanarTpl< S2, O2 > &) |
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template<typename M6Like , typename S2 , int O2> |
SizeDepType< 3 >::ColsReturn< M6Like >::ConstType | operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintSphericalTpl< S2, O2 > &) |
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template<typename M6Like , typename S2 , int O2> |
const SizeDepType< 3 >::ColsReturn< M6Like >::ConstType | operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintTranslationTpl< S2, O2 > &) |
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template<typename Matrix6Like , typename S2 , int O2> |
const Matrix6Like & | operator* (const Eigen::MatrixBase< Matrix6Like > &Y, const ConstraintIdentityTpl< S2, O2 > &) |
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template<typename Matrix6Like , typename S2 , int O2> |
const MatrixMatrixProduct< typename Eigen::internal::remove_const< typename SizeDepType< 3 >::ColsReturn< Matrix6Like >::ConstType >::type, typename ConstraintSphericalZYXTpl< S2, O2 >::Matrix3 >::type | operator* (const Eigen::MatrixBase< Matrix6Like > &Y, const ConstraintSphericalZYXTpl< S2, O2 > &S) |
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template<typename MatrixDerived , typename ConstraintDerived > |
MultiplicationOp< Eigen::MatrixBase< MatrixDerived >, ConstraintDerived >::ReturnType | operator* (const Eigen::MatrixBase< MatrixDerived > &Y, const ConstraintBase< ConstraintDerived > &constraint) |
| More...
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template<typename S1 , int O1, typename S2 , int O2> |
InertiaTpl< S1, O1 >::Matrix6 | operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintIdentityTpl< S2, O2 > &) |
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template<typename S1 , int O1, typename S2 , int O2> |
Eigen::Matrix< S1, 6, 3, O1 > | operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintPlanarTpl< S2, O2 > &) |
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template<typename S1 , int O1, typename S2 , int O2> |
Eigen::Matrix< S2, 6, 3, O2 > | operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintSphericalTpl< S2, O2 > &) |
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template<typename S1 , int O1, typename S2 , int O2> |
Eigen::Matrix< S1, 6, 3, O1 > | operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintSphericalZYXTpl< S2, O2 > &S) |
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template<typename S1 , int O1, typename S2 , int O2> |
Eigen::Matrix< S2, 6, 3, O2 > | operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintTranslationTpl< S2, O2 > &) |
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template<typename Scalar , int Options, typename ConstraintDerived > |
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType | operator* (const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint) |
| More...
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template<typename MotionDerived > |
internal::RHSScalarMultiplication< MotionDerived, typename MotionDerived::Scalar >::ReturnType | operator* (const typename MotionDerived::Scalar &alpha, const MotionBase< MotionDerived > &motion) |
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template<typename F1 > |
traits< F1 >::ForcePlain | operator* (const typename traits< F1 >::Scalar alpha, const ForceDense< F1 > &f) |
| Basic operations specialization.
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template<typename M1 > |
traits< M1 >::MotionPlain | operator* (const typename traits< M1 >::Scalar alpha, const MotionDense< M1 > &v) |
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template<typename M1 , typename Scalar , int Options> |
const M1 & | operator+ (const MotionBase< M1 > &v, const MotionZeroTpl< Scalar, Options > &) |
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template<typename Scalar , int Options, typename MotionDerived > |
MotionDerived::MotionPlain | operator+ (const MotionPlanarTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2) |
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template<typename Scalar , int Options, int axis, typename MotionDerived > |
MotionDerived::MotionPlain | operator+ (const MotionPrismaticTpl< Scalar, Options, axis > &m1, const MotionDense< MotionDerived > &m2) |
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template<typename Scalar , int Options, typename MotionDerived > |
MotionDerived::MotionPlain | operator+ (const MotionPrismaticUnalignedTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2) |
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template<typename S1 , int O1, int axis, typename MotionDerived > |
MotionDerived::MotionPlain | operator+ (const MotionRevoluteTpl< S1, O1, axis > &m1, const MotionDense< MotionDerived > &m2) |
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template<typename S1 , int O1, typename MotionDerived > |
MotionDerived::MotionPlain | operator+ (const MotionRevoluteUnalignedTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2) |
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template<typename S1 , int O1, typename MotionDerived > |
MotionDerived::MotionPlain | operator+ (const MotionSphericalTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2) |
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template<typename S1 , int O1, typename MotionDerived > |
MotionDerived::MotionPlain | operator+ (const MotionTranslationTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2) |
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template<typename Scalar , int Options, typename M1 > |
const M1 & | operator+ (const MotionZeroTpl< Scalar, Options > &, const MotionBase< M1 > &v) |
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template<typename Scalar , int Options> |
std::ostream & | operator<< (std::ostream &os, const FrameTpl< Scalar, Options > &f) |
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
std::ostream & | operator<< (std::ostream &os, const JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > &jdata) |
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> |
std::ostream & | operator<< (std::ostream &os, const JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
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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) |
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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) |
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template<typename M1 , typename F1 > |
traits< F1 >::ForcePlain | operator^ (const MotionDense< M1 > &v, const ForceBase< F1 > &f) |
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template<typename M1 , typename M2 > |
traits< M1 >::MotionPlain | operator^ (const MotionDense< M1 > &v1, const MotionDense< M2 > &v2) |
| Basic operations specialization.
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template<typename MotionDerived , typename S2 , int O2> |
MotionDerived::MotionPlain | operator^ (const MotionDense< MotionDerived > &m1, const MotionPlanarTpl< S2, O2 > &m2) |
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template<typename MotionDerived , typename S2 , int O2, int axis> |
MotionDerived::MotionPlain | operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticTpl< S2, O2, axis > &m2) |
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template<typename MotionDerived , typename S2 , int O2> |
MotionDerived::MotionPlain | operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticUnalignedTpl< S2, O2 > &m2) |
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template<typename MotionDerived , typename S2 , int O2, int axis> |
MotionDerived::MotionPlain | operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteTpl< S2, O2, axis > &m2) |
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template<typename MotionDerived , typename S2 , int O2> |
MotionDerived::MotionPlain | operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteUnalignedTpl< S2, O2 > &m2) |
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template<typename MotionDerived , typename S2 , int O2> |
MotionDerived::MotionPlain | operator^ (const MotionDense< MotionDerived > &m1, const MotionSphericalTpl< S2, O2 > &m2) |
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template<typename MotionDerived , typename S2 , int O2> |
MotionDerived::MotionPlain | operator^ (const MotionDense< MotionDerived > &m1, const MotionTranslationTpl< S2, O2 > &m2) |
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template<typename Matrix3 > |
Matrix3 | orthogonalProjection (const Eigen::MatrixBase< Matrix3 > &mat) |
| Orthogonal projection of a matrix on the SO(3) manifold. More...
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template<typename Scalar > |
const Scalar | PI () |
| Returns the value of PI according to the template parameters Scalar. More...
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typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector |
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typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector |
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| PINOCCHIO_DEFINE_COMPARISON_OP (equal_to_op,==) |
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| PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_op,>) |
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| PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_or_equal_to_op,>=) |
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| PINOCCHIO_DEFINE_COMPARISON_OP (less_than_op,<) |
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| PINOCCHIO_DEFINE_COMPARISON_OP (less_than_or_equal_to_op,<=) |
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| PINOCCHIO_DEFINE_COMPARISON_OP (not_equal_to_op,!=) |
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > |
PINOCCHIO_DEPRECATED Scalar | potentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool update_kinematics) |
| 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...
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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.
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template<typename LieGroupCollection , class Config_t > |
void | random (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout) |
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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) |
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std::string | randomStringGenerator (const int len) |
| Generate a random string composed of alphanumeric symbols of a given length. More...
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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...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorPool , typename TangentVectorPool1 , typename TangentVectorPool2 , typename TangentVectorPool3 > |
void | rnea (const int 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...
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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...
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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...
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std::vector< std::string > | rosPaths () |
| Parse the environment variables ROS_PACKAGE_PATH / AMENT_PREFIX_PATH and extract paths. More...
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PINOCCHIO_DEPRECATED void | setGeometryMeshScales (GeometryModel &geom_model, const double meshScale) |
| Set an isotropic mesh scaling to each GeometryObject contained in the the GeometryModel. More...
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template<typename Vector3Like > |
PINOCCHIO_DEPRECATED void | setGeometryMeshScales (GeometryModel &geom_model, const Eigen::MatrixBase< Vector3Like > &meshScale) |
| Set a mesh scaling vector to each GeometryObject contained in the the GeometryModel. More...
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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...
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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...
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template<typename Scalar > |
Scalar | sign (const Scalar &t) |
| Returns the robust sign of t.
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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...
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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...
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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...
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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...
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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...
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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) |
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hpp::fcl::Transform3f | toFclTransform3f (const SE3 &m) |
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SE3 | toPinocchioSE3 (const hpp::fcl::Transform3f &tf) |
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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