pinocchio Namespace Reference

Main pinocchio namespace. More...

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

Classes
struct	ABAChecker
struct	AlgorithmCheckerBase
	CRTP class describing the API of the checkers. More...
struct	AlgorithmCheckerList
	Checker having a list of Checker as input argument. More...
struct	apply_op_if
struct	apply_op_if< OP, true, default_return_value >
struct	BiasZeroTpl
	BiasZeroTpl has been replaced by MotionZeroTpl. Please use this naming instead. More...
struct	CartesianAxis
struct	CartesianProductOperation
struct	CartesianProductOperationVariantTpl
	Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant. More...
struct	CastType
	Type of the cast of a class C templated by Scalar and Options, to a new NewScalar type. This class should be specialized for each types. More...
struct	CastType< NewScalar, JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	CastType< NewScalar, JointModelMimic< JointModel > >
struct	CastType< NewScalar, JointModelPrismaticTpl< Scalar, Options, axis > >
struct	CastType< NewScalar, JointModelRevoluteTpl< Scalar, Options, axis > >
struct	CastType< NewScalar, JointModelRevoluteUnboundedTpl< Scalar, Options, axis > >
struct	CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >
struct	CodeGenABA
struct	CodeGenABADerivatives
struct	CodeGenBase
struct	CodeGenCRBA
struct	CodeGenDDifference
struct	CodeGenDifference
struct	CodeGenIntegrate
struct	CodeGenMinv
struct	CodeGenRNEA
struct	CodeGenRNEADerivatives
struct	CollisionPair
struct	ComputeCollision
struct	ComputeDistance
struct	ConfigVectorAffineTransform
	Assign the correct configuration vector space affine transformation according to the joint type. More...
struct	ConfigVectorAffineTransform< JointRevoluteUnboundedTpl< Scalar, Options, axis > >
class	ConstraintBase
struct	ConstraintForceOp
	Return type of the Constraint::Transpose * Force operation. More...
struct	ConstraintForceOp< ConstraintPrismaticTpl< Scalar, Options, axis >, ForceDerived >
struct	ConstraintForceOp< ConstraintPrismaticUnalignedTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< ConstraintRevoluteTpl< Scalar, Options, axis >, ForceDerived >
struct	ConstraintForceOp< ConstraintRevoluteUnalignedTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< ScaledConstraint< Constraint >, ForceDerived >
struct	ConstraintForceSetOp
	Return type of the Constraint::Transpose * ForceSet operation. More...
struct	ConstraintForceSetOp< ConstraintPrismaticTpl< Scalar, Options, axis >, ForceSet >
struct	ConstraintForceSetOp< ConstraintPrismaticUnalignedTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< ConstraintRevoluteTpl< Scalar, Options, axis >, ForceSet >
struct	ConstraintForceSetOp< ConstraintRevoluteUnalignedTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< ScaledConstraint< Constraint >, ForceSet >
struct	ConstraintIdentityTpl
struct	ConstraintPlanarTpl
struct	ConstraintPrismaticTpl
struct	ConstraintPrismaticUnalignedTpl
struct	ConstraintRevoluteTpl
struct	ConstraintRevoluteUnalignedTpl
struct	ConstraintSphericalTpl
struct	ConstraintSphericalZYXTpl
struct	ConstraintTpl
struct	ConstraintTranslationTpl
struct	CRBAChecker
struct	DataTpl
struct	eval_set_dim
struct	eval_set_dim< dim, Eigen::Dynamic >
struct	eval_set_dim< Eigen::Dynamic, dim >
class	ForceBase
	Base interface for forces representation. More...
class	ForceDense
class	ForceRef
class	ForceRef< const Vector6ArgType >
class	ForceSetTpl
class	ForceTpl
struct	FrameTpl
	A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...
struct	GeometryData
struct	GeometryModel
struct	GeometryObject
class	GeometryPoolTpl
class	InertiaBase
class	InertiaTpl
struct	is_floating_point
struct	is_floating_point< boost::multiprecision::number< Backend, ET > >
struct	Jlog3_impl
struct	Jlog6_impl
struct	JointCollectionDefaultTpl
struct	JointCompositeTpl
struct	JointDataBase
struct	JointDataCompositeTpl
struct	JointDataFreeFlyerTpl
struct	JointDataMimic
struct	JointDataPlanarTpl
struct	JointDataPrismaticTpl
struct	JointDataPrismaticUnalignedTpl
struct	JointDataRevoluteTpl
struct	JointDataRevoluteUnalignedTpl
struct	JointDataRevoluteUnboundedTpl
struct	JointDataRevoluteUnboundedUnalignedTpl
struct	JointDataSphericalTpl
struct	JointDataSphericalZYXTpl
struct	JointDataTpl
struct	JointDataTranslationTpl
struct	JointDataVoid
struct	JointFreeFlyerTpl
struct	JointMimic
struct	JointModelBase
struct	JointModelCompositeTpl
struct	JointModelFreeFlyerTpl
struct	JointModelMimic
struct	JointModelPlanarTpl
struct	JointModelPrismaticTpl
struct	JointModelPrismaticUnalignedTpl
struct	JointModelRevoluteTpl
struct	JointModelRevoluteUnalignedTpl
struct	JointModelRevoluteUnboundedTpl
struct	JointModelRevoluteUnboundedUnalignedTpl
struct	JointModelSphericalTpl
struct	JointModelSphericalZYXTpl
struct	JointModelTpl
struct	JointModelTranslationTpl
struct	JointModelVoid
struct	JointPlanarTpl
struct	JointPrismaticTpl
struct	JointPrismaticUnalignedTpl
struct	JointRevoluteTpl
struct	JointRevoluteUnalignedTpl
struct	JointRevoluteUnboundedTpl
struct	JointRevoluteUnboundedUnalignedTpl
struct	JointSphericalTpl
struct	JointSphericalZYXTpl
struct	JointTpl
struct	JointTranslationTpl
struct	LieGroup
struct	LieGroupBase
struct	LieGroupCollectionDefaultTpl
struct	LieGroupGenericTpl
struct	LieGroupMap
struct	LinearAffineTransform
	Linear affine transformation of the configuration vector. Valide for most common joints which are evolving on a vectorial space. More...
struct	log3_impl
struct	log6_impl
struct	MatrixMatrixProduct
struct	MatrixScalarProduct
class	ModelPoolTpl
struct	ModelTpl
struct	MotionAlgebraAction
	Return type of the ation of a Motion onto an object of type D. More...
struct	MotionAlgebraAction< BiasZeroTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintIdentityTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintPlanarTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintPrismaticTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< ConstraintPrismaticUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintRevoluteTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< ConstraintRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintSphericalTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintSphericalZYXTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintTpl< Dim, Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintTranslationTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ForceDense< Derived >, MotionDerived >
struct	MotionAlgebraAction< ForceRef< Vector6ArgType >, MotionDerived >
struct	MotionAlgebraAction< MotionDense< Derived >, MotionDerived >
struct	MotionAlgebraAction< MotionPlanarTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionPrismaticTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< MotionPrismaticUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionRef< Vector6ArgType >, MotionDerived >
struct	MotionAlgebraAction< MotionRevoluteTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< MotionRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionSphericalTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionTranslationTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionZeroTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ScaledConstraint< Constraint >, MotionDerived >
struct	MotionAlgebraAction< SpatialAxis< axis >, MotionDerived >
class	MotionBase
class	MotionDense
struct	MotionPlanarTpl
struct	MotionPrismaticTpl
struct	MotionPrismaticUnalignedTpl
class	MotionRef
class	MotionRef< const Vector6ArgType >
struct	MotionRevoluteTpl
struct	MotionRevoluteUnalignedTpl
struct	MotionSphericalTpl
class	MotionTpl
struct	MotionTranslationTpl
struct	MotionZeroTpl
struct	MultiplicationOp
	Forward declaration of the multiplication operation return type. Should be overloaded, otherwise it will procude a compilation error. More...
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintPrismaticTpl< S2, O2, axis > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintPrismaticUnalignedTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintRevoluteTpl< S2, O2, axis > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintRevoluteUnalignedTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ScaledConstraint< _Constraint > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintPrismaticTpl< S2, O2, axis > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintPrismaticUnalignedTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintRevoluteTpl< S2, O2, axis > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintRevoluteUnalignedTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ScaledConstraint< _Constraint > >
struct	ParentChecker
	Simple model checker, that assert that model.parents is indeed a tree. More...
struct	ScalarMatrixProduct
struct	ScaledConstraint
struct	SE3Base
	Base class for rigid transformation. More...
struct	SE3GroupAction
struct	SE3GroupAction< BiasZeroTpl< Scalar, Options > >
struct	SE3GroupAction< ConstraintIdentityTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintPlanarTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< ConstraintPrismaticUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< ConstraintRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< ConstraintRevoluteUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< ConstraintSphericalTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintSphericalZYXTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintTpl< Dim, Scalar, Options > >
struct	SE3GroupAction< ConstraintTranslationTpl< S1, O1 > >
struct	SE3GroupAction< ForceDense< Derived > >
struct	SE3GroupAction< ForceRef< Vector6ArgType > >
struct	SE3GroupAction< ForceSet::Block >
struct	SE3GroupAction< MotionDense< Derived > >
struct	SE3GroupAction< MotionPlanarTpl< Scalar, Options > >
struct	SE3GroupAction< MotionPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< MotionPrismaticUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< MotionRef< Vector6ArgType > >
struct	SE3GroupAction< MotionRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< MotionRevoluteUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< MotionSphericalTpl< Scalar, Options > >
struct	SE3GroupAction< MotionTranslationTpl< Scalar, Options > >
struct	SE3GroupAction< MotionZeroTpl< Scalar, Options > >
struct	SE3GroupAction< ScaledConstraint< Constraint > >
struct	SE3GroupAction< TransformPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< TransformRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< TransformTranslationTpl< Scalar, Options > >
struct	SE3Tpl
struct	Serialize
struct	Serialize< JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	Serialize< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	SINCOSAlgo
	Generic evaluation of sin/cos functions. More...
struct	SINCOSAlgo< boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< X_digits10, X_alloc >, X_et >, boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< S_digits10, S_alloc >, S_et >, boost::multiprecision::number< boost::multiprecision::mpfr_float_backend< C_digits10, C_alloc >, C_et > >
struct	SINCOSAlgo< double >
	Specific evaluation of sin/cos for double type. More...
struct	SINCOSAlgo< float >
	Specific evaluation of sin/cos for float type. More...
struct	SINCOSAlgo< long double >
	Specific evaluation of sin/cos for long double. More...
struct	SizeDepType
struct	SizeDepType< Eigen::Dynamic >
struct	SpatialAxis
struct	SpecialEuclideanOperationTpl
struct	SpecialEuclideanOperationTpl< 2, _Scalar, _Options >
struct	SpecialEuclideanOperationTpl< 3, _Scalar, _Options >
	SE(3) More...
struct	SpecialOrthogonalOperationTpl
struct	SpecialOrthogonalOperationTpl< 2, _Scalar, _Options >
struct	SpecialOrthogonalOperationTpl< 3, _Scalar, _Options >
class	Symmetric3Tpl
struct	TaylorSeriesExpansion
	More...
struct	TaylorSeriesExpansion< ::casadi::Matrix< Scalar > >
struct	TaylorSeriesExpansion< CppAD::AD< Scalar > >
struct	TaylorSeriesExpansion< CppAD::cg::CG< Scalar > >
struct	Tensor
struct	traits
	Common traits structure to fully define base classes for CRTP. More...
struct	traits< CartesianProductOperation< LieGroup1, LieGroup2 > >
struct	traits< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
struct	traits< ConstraintIdentityTpl< _Scalar, _Options > >
struct	traits< ConstraintPlanarTpl< _Scalar, _Options > >
struct	traits< ConstraintPrismaticTpl< _Scalar, _Options, axis > >
struct	traits< ConstraintPrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< ConstraintRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< ConstraintRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< ConstraintSphericalTpl< _Scalar, _Options > >
struct	traits< ConstraintSphericalZYXTpl< _Scalar, _Options > >
struct	traits< ConstraintTpl< _Dim, _Scalar, _Options > >
struct	traits< ConstraintTranslationTpl< _Scalar, _Options > >
struct	traits< ForceRef< const Vector6ArgType > >
struct	traits< ForceRef< Vector6ArgType > >
struct	traits< ForceTpl< _Scalar, _Options > >
struct	traits< InertiaTpl< T, U > >
struct	traits< JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	traits< JointDataFreeFlyerTpl< Scalar, Options > >
struct	traits< JointDataMimic< Joint > >
struct	traits< JointDataPlanarTpl< Scalar, Options > >
struct	traits< JointDataPrismaticTpl< Scalar, Options, axis > >
struct	traits< JointDataPrismaticUnalignedTpl< Scalar, Options > >
struct	traits< JointDataRevoluteTpl< Scalar, Options, axis > >
struct	traits< JointDataRevoluteUnalignedTpl< Scalar, Options > >
struct	traits< JointDataRevoluteUnboundedTpl< Scalar, Options, axis > >
struct	traits< JointDataRevoluteUnboundedUnalignedTpl< Scalar, Options > >
struct	traits< JointDataSphericalTpl< Scalar, Options > >
struct	traits< JointDataSphericalZYXTpl< Scalar, Options > >
struct	traits< JointDataTpl< Scalar, Options, JointCollectionTpl > >
struct	traits< JointDataTranslationTpl< Scalar, Options > >
struct	traits< JointFreeFlyerTpl< _Scalar, _Options > >
struct	traits< JointMimic< Joint > >
struct	traits< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	traits< JointModelFreeFlyerTpl< Scalar, Options > >
struct	traits< JointModelMimic< Joint > >
struct	traits< JointModelPlanarTpl< Scalar, Options > >
struct	traits< JointModelPrismaticTpl< Scalar, Options, axis > >
struct	traits< JointModelPrismaticUnalignedTpl< Scalar, Options > >
struct	traits< JointModelRevoluteTpl< Scalar, Options, axis > >
struct	traits< JointModelRevoluteUnalignedTpl< Scalar, Options > >
struct	traits< JointModelRevoluteUnboundedTpl< Scalar, Options, axis > >
struct	traits< JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > >
struct	traits< JointModelSphericalTpl< Scalar, Options > >
struct	traits< JointModelSphericalZYXTpl< Scalar, Options > >
struct	traits< JointModelTpl< Scalar, Options, JointCollectionTpl > >
struct	traits< JointModelTranslationTpl< Scalar, Options > >
struct	traits< JointPlanarTpl< _Scalar, _Options > >
struct	traits< JointPrismaticTpl< _Scalar, _Options, axis > >
struct	traits< JointPrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< JointRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< JointRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< JointRevoluteUnboundedTpl< _Scalar, _Options, axis > >
struct	traits< JointRevoluteUnboundedUnalignedTpl< _Scalar, _Options > >
struct	traits< JointSphericalTpl< _Scalar, _Options > >
struct	traits< JointSphericalZYXTpl< _Scalar, _Options > >
struct	traits< JointTpl< _Scalar, _Options, JointCollectionTpl > >
struct	traits< JointTranslationTpl< _Scalar, _Options > >
struct	traits< LieGroupGenericTpl< LieGroupCollection > >
struct	traits< MotionPlanarTpl< _Scalar, _Options > >
struct	traits< MotionPrismaticTpl< _Scalar, _Options, _axis > >
struct	traits< MotionPrismaticUnalignedTpl< _Scalar, _Options > >
struct	traits< MotionRef< const Vector6ArgType > >
struct	traits< MotionRef< Vector6ArgType > >
struct	traits< MotionRevoluteTpl< _Scalar, _Options, axis > >
struct	traits< MotionRevoluteUnalignedTpl< _Scalar, _Options > >
struct	traits< MotionSphericalTpl< _Scalar, _Options > >
struct	traits< MotionTpl< _Scalar, _Options > >
struct	traits< MotionTranslationTpl< _Scalar, _Options > >
struct	traits< MotionZeroTpl< _Scalar, _Options > >
struct	traits< ScaledConstraint< Constraint > >
struct	traits< SE3Tpl< _Scalar, _Options > >
struct	traits< SpecialEuclideanOperationTpl< 2, _Scalar, _Options > >
struct	traits< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
struct	traits< SpecialEuclideanOperationTpl< Dim, Scalar, Options > >
struct	traits< SpecialOrthogonalOperationTpl< 2, _Scalar, _Options > >
struct	traits< SpecialOrthogonalOperationTpl< 3, _Scalar, _Options > >
struct	traits< SpecialOrthogonalOperationTpl< Dim, Scalar, Options > >
struct	traits< TransformPrismaticTpl< _Scalar, _Options, _axis > >
struct	traits< TransformRevoluteTpl< _Scalar, _Options, _axis > >
struct	traits< TransformTranslationTpl< _Scalar, _Options > >
struct	traits< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
struct	TransformPrismaticTpl
struct	TransformRevoluteTpl
struct	TransformTranslationTpl
struct	UnboundedRevoluteAffineTransform
struct	VectorSpaceOperationTpl

Typedefs
typedef SpatialAxis< 0 >	AxisVX
typedef SpatialAxis< 1 >	AxisVY
typedef SpatialAxis< 2 >	AxisVZ
typedef SpatialAxis< 3 >	AxisWX
typedef SpatialAxis< 4 >	AxisWY
typedef SpatialAxis< 5 >	AxisWZ
typedef CartesianAxis< 0 >	AxisX
typedef CartesianAxis< 1 >	AxisY
typedef CartesianAxis< 2 >	AxisZ
typedef CartesianProductOperationVariantTpl< double, 0, LieGroupCollectionDefaultTpl >	CartesianProductOperationVariant
typedef ConstraintTpl< 1, double, 0 >	Constraint1d
typedef ConstraintTpl< 3, double, 0 >	Constraint3d
typedef ConstraintTpl< 6, double, 0 >	Constraint6d
typedef ConstraintTpl< Eigen::Dynamic, double, 0 >	ConstraintXd
typedef DataTpl< double >	Data
typedef ForceTpl< double, 0 >	Force
typedef ForceSetTpl< double, 0 >	ForceSet
typedef FrameTpl< double >	Frame
typedef Index	FrameIndex
typedef GeometryPoolTpl< double, 0, JointCollectionDefaultTpl >	GeometryPool
typedef Index	GeomIndex
typedef std::size_t	Index
typedef InertiaTpl< double, 0 >	Inertia
typedef JointTpl< double >	Joint
typedef JointCollectionDefaultTpl< double >	JointCollectionDefault
typedef JointDataTpl< double >	JointData
typedef JointDataCompositeTpl< double >	JointDataComposite
typedef JointDataFreeFlyerTpl< double >	JointDataFreeFlyer
typedef JointDataPlanarTpl< double >	JointDataPlanar
typedef JointDataPrismaticUnalignedTpl< double >	JointDataPrismaticUnaligned
typedef JointDataPrismaticTpl< double, 0, 0 >	JointDataPX
typedef JointDataPrismaticTpl< double, 0, 1 >	JointDataPY
typedef JointDataPrismaticTpl< double, 0, 2 >	JointDataPZ
typedef JointDataRevoluteUnalignedTpl< double >	JointDataRevoluteUnaligned
typedef JointDataRevoluteUnboundedUnalignedTpl< double >	JointDataRevoluteUnboundedUnaligned
typedef JointDataRevoluteUnboundedTpl< double, 0, 0 >	JointDataRUBX
typedef JointDataRevoluteUnboundedTpl< double, 0, 1 >	JointDataRUBY
typedef JointDataRevoluteUnboundedTpl< double, 0, 2 >	JointDataRUBZ
typedef JointDataRevoluteTpl< double, 0, 0 >	JointDataRX
typedef JointDataRevoluteTpl< double, 0, 1 >	JointDataRY
typedef JointDataRevoluteTpl< double, 0, 2 >	JointDataRZ
typedef JointDataSphericalTpl< double >	JointDataSpherical
typedef JointDataSphericalZYXTpl< double >	JointDataSphericalZYX
typedef JointDataTranslationTpl< double >	JointDataTranslation
typedef JointCollectionDefault::JointDataVariant	JointDataVariant
typedef Index	JointIndex
typedef JointModelTpl< double >	JointModel
typedef JointModelCompositeTpl< double >	JointModelComposite
typedef JointModelFreeFlyerTpl< double >	JointModelFreeFlyer
typedef JointModelPlanarTpl< double >	JointModelPlanar
typedef JointModelPrismaticUnalignedTpl< double >	JointModelPrismaticUnaligned
typedef JointModelPrismaticTpl< double, 0, 0 >	JointModelPX
typedef JointModelPrismaticTpl< double, 0, 1 >	JointModelPY
typedef JointModelPrismaticTpl< double, 0, 2 >	JointModelPZ
typedef JointModelRevoluteUnalignedTpl< double >	JointModelRevoluteUnaligned
typedef JointModelRevoluteUnboundedUnalignedTpl< double >	JointModelRevoluteUnboundedUnaligned
typedef JointModelRevoluteUnboundedTpl< double, 0, 0 >	JointModelRUBX
typedef JointModelRevoluteUnboundedTpl< double, 0, 1 >	JointModelRUBY
typedef JointModelRevoluteUnboundedTpl< double, 0, 2 >	JointModelRUBZ
typedef JointModelRevoluteTpl< double, 0, 0 >	JointModelRX
typedef JointModelRevoluteTpl< double, 0, 1 >	JointModelRY
typedef JointModelRevoluteTpl< double, 0, 2 >	JointModelRZ
typedef JointModelSphericalTpl< double >	JointModelSpherical
typedef JointModelSphericalZYXTpl< double >	JointModelSphericalZYX
typedef JointModelTranslationTpl< double >	JointModelTranslation
typedef JointCollectionDefault::JointModelVariant	JointModelVariant
typedef JointPrismaticTpl< double, 0, 0 >	JointPX
typedef JointPrismaticTpl< double, 0, 1 >	JointPY
typedef JointPrismaticTpl< double, 0, 2 >	JointPZ
typedef JointRevoluteUnboundedTpl< double, 0, 0 >	JointRUBX
typedef JointRevoluteUnboundedTpl< double, 0, 1 >	JointRUBY
typedef JointRevoluteUnboundedTpl< double, 0, 2 >	JointRUBZ
typedef JointRevoluteTpl< double, 0, 0 >	JointRX
typedef JointRevoluteTpl< double, 0, 1 >	JointRY
typedef JointRevoluteTpl< double, 0, 2 >	JointRZ
typedef LieGroupCollectionDefaultTpl< double >	LieGroupCollectionDefault
typedef ModelTpl< double >	Model
typedef ModelPoolTpl< double, 0, JointCollectionDefaultTpl >	ModelPool
typedef MotionTpl< double, 0 >	Motion
typedef MotionPlanarTpl< double >	MotionPlanar
typedef MotionPrismaticUnalignedTpl< double >	MotionPrismaticUnaligned
typedef MotionRevoluteUnalignedTpl< double >	MotionRevoluteUnaligned
typedef MotionSphericalTpl< double >	MotionSpherical
typedef MotionTranslationTpl< double >	MotionTranslation
typedef MotionZeroTpl< double, 0 >	MotionZero
typedef Index	PairIndex
typedef SE3Tpl< double, 0 >	SE3
typedef Symmetric3Tpl< double, 0 >	Symmetric3

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

Functions
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...
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...
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...
template<typename Vector3Like , typename Matrix3Like >
void	addSkew (const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like > &M)
	Add skew matrix represented by a 3d vector to a given matrix, i.e. add the antisymmetric matrix representation of the cross product operator ( \( [v]_{\times} x = v \times x \)) More...
template<typename Scalar , typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3 ::Options >	alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( \( [\alpha v]_{\times} x = \alpha v \times x \)) More...
template<typename Scalar , typename Vector3 , typename Matrix3 >
void	alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector multiplied by a given scalar. i.e. the antisymmetric matrix representation of the cross product operator ( \( [\alpha v]_{\times} x = \alpha v \times x \)) More...
void	appendGeometryModel (GeometryModel &geom_model1, const GeometryModel &geom_model2)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl >	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb)
	Append a child model into a parent model, after a specific frame given by its index. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Append a child model into a parent model, after a specific frame given by its index. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const GeometryModel &geomModelA, const GeometryModel &geomModelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel)
	Append a child model into a parent model, after a specific frame given by its index. More...
void	appendSuffixToPaths (std::vector< std::string > &list_of_paths, const std::string &suffix)
	For a given vector of paths, add a suffix inplace to each path and return the vector inplace. More...
template<int axis>
char	axisLabel ()
	Generate the label (X, Y or Z) of the axis relative to its index. More...
template<>
char	axisLabel< 0 > ()
template<>
char	axisLabel< 1 > ()
template<>
char	axisLabel< 2 > ()
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
MotionTpl< Scalar, Options >	bias (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion. More...
template<typename MotionVelocity , typename MotionAcceleration >
Eigen::Matrix< typename MotionVelocity::Scalar, 6, 10, typename MotionVelocity::Vector3 ::Options >	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a)
	Computes the regressor for the dynamic parameters of a single rigid body. More...
template<typename MotionVelocity , typename MotionAcceleration , typename OutputType >
void	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > &regressor)
	Computes the regressor for the dynamic parameters of a single rigid body. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model, GeometryModel &reduced_geom_model)
	Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename GeometryModelAllocator , typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< GeometryModel, GeometryModelAllocator > &list_of_geom_models, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model, std::vector< GeometryModel, GeometryModelAllocator > &list_of_reduced_geom_models)
	Build a reduced model and a rededuced geometry model from a given input model, a given input geometry model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
ModelTpl< Scalar, Options, JointCollectionTpl >	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)
	Build a reduced model from a given input model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model)
	Build a reduced model from a given input model and a list of joint to lock. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, 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...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	calc_first_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType >
void	calc_zero_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
	Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero. More...
template<typename NewScalar , typename Scalar >
NewScalar	cast (const Scalar &value)
template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type	cast_joint (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...> More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	ccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta according to the current joint configuration and velocity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool computeSubtreeComs=true)
	Computes the center of mass position of a given model according to a particular joint configuration. The result is accessible through data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const bool computeSubtreeComs=true)
	Computes the center of mass position and velocity of a given model according to a particular joint configuration and velocity. The result is accessible through data.com[0], data.vcom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration. The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation. And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
PINOCCHIO_DEPRECATED void	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, int kinematic_level, const bool computeSubtreeComs=true)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, KinematicLevel kinematic_level, const bool computeSubtreeComs=true)
	Computes the center of mass position, velocity and acceleration of a given model according to the current kinematic values contained in data and the requested kinematic_level. The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
bool	checkData (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data)
ModelFileExtensionType	checkModelFileExtension (const std::string &filename)
	Extract the type of the given model file according to its extension. More...
bool	checkVersionAtLeast (unsigned int major_version, unsigned int minor_version, unsigned int patch_version)
	Checks if the current version of Pinocchio is at least the version provided by the input arguments. More...
template<typename 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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext)
	The derivatives of the Articulated-Body algorithm with external forces. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm with external forces. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeABADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau, const Eigen::MatrixBase< MatrixType1 > &aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &aba_partial_dtau)
	The derivatives of the Articulated-Body algorithm. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	computeAllTerms (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes efficiently all the terms needed for dynamic simulation. It is equivalent to the call at the same time to: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeBodyRadius (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, GeometryData &geom_data)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename 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...
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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >
void	computeCentroidalDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const Eigen::MatrixBase< Matrix6xLike0 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
	Computes the analytical derivatives of the centroidal dynamics with respect to the joint configuration vector, velocity and acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMap (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the Centroidal Momentum Matrix,. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMapTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal Momentum Matrix time derivative. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentumTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentumTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass. More...
bool	computeCollision (const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex pair_id)
	Compute the collision status between a SINGLE collision pair. The result is store in the collisionResults vector. More...
bool	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...
bool	computeCollisions (const int num_threads, const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	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)
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)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bool	computeCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool stopAtFirstCollision=false)
template<typename 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...
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...
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)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
std::size_t	computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeForwardKinematicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Computes all the terms required to compute the derivatives of the placement, spatial velocity and acceleration for any joint of the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J)
	Computes the Jacobian of a specific Frame expressed in the LOCAL frame coordinate system. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix6xLike >
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J)
	Computes the Jacobian of a specific Frame expressed in the desired reference_frame given as argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeFrameKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeFrameKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	computeGeneralizedGravity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the generalized gravity contribution \( g(q) \) of the Lagrangian dynamics: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >
void	computeGeneralizedGravityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ReturnMatrixType > &gravity_partial_dq)
	Computes the partial derivative of the generalized gravity contribution with respect to the joint configuration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, 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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function assumes that pinocchio::forwardKinematics has been called before. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function computes also the forwardKinematics of the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeJointJacobiansTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depends both on q and v. The result is accessible through data.dJ. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See computeJointJacobians for such a function. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
	Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the joint given as input. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement)
	Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xReturnType >
void	computeJointKinematicRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl< Scalar, Options > &placement, const Eigen::MatrixBase< Matrix6xReturnType > &kinematic_regressor)
	Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	computeJointTorqueRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Computes the joint torque regressor that links the joint torque to the dynamic parameters of each link according to the current the robot motion. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
Scalar	computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the kinetic energy of the system. The result is accessible through data.kinetic_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ConstraintMatrixType , typename KKTMatrixType >
void	computeKKTContactDynamicMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &KKTMatrix_inv, const Scalar &inv_damping=0.)
	Computes the inverse of the KKT matrix for dynamics with contact constraints. It computes the following matrix: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs &	computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the inverse of the joint space inertia matrix using Articulated Body formulation. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
Scalar	computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the potential energy of the system, i.e. the potential energy linked to the gravity field. The result is accessible through data.potential_energy. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeRNEADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	computeRNEADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeRNEADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext, const Eigen::MatrixBase< MatrixType1 > &rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &rnea_partial_da)
	Computes the derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeRNEADerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const Eigen::MatrixBase< MatrixType1 > &rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &rnea_partial_da)
	Computes the partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	ComputeRNEASecondOrderDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithms with respect to the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename Tensor1 , typename Tensor2 , typename Tensor3 , typename Tensor4 >
void	ComputeRNEASecondOrderDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const Tensor1 &d2tau_dqdq, const Tensor2 &d2tau_dvdv, const Tensor3 &dtau_dqdv, const Tensor4 &dtau_dadq)
	Computes the Second-Order partial derivatives of the Recursive Newton Euler Algorithm w.r.t the joint configuration, the joint velocity and the joint acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	computeStaticRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	computeStaticTorque (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext)
	Computes the generalized static torque contribution \( g(q) - \sum J(q)^{\top} f_{\text{ext}} \) of the Lagrangian dynamics: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename ReturnMatrixType >
void	computeStaticTorqueDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext, const Eigen::MatrixBase< ReturnMatrixType > &static_torque_partial_dq)
	Computes the partial derivative of the generalized gravity and external forces contributions (a.k.a static torque vector) with respect to the joint configuration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	computeSubtreeMasses (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Compute the mass of each kinematic subtree and store it in data.mass. The element mass[0] corresponds to the total mass of the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ForceTpl< Scalar, Options >	computeSupportedForceByFrame (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id)
	Computes the force supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The supported force corresponds to the sum of all the forces experienced after the given frame, i.e : More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
InertiaTpl< Scalar, Options >	computeSupportedInertiaByFrame (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, bool with_subtree)
	Compute the inertia supported by a specific frame (given by frame_id) expressed in the LOCAL frame. The total supported inertia corresponds to the sum of all the inertia after the given frame, i.e : More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Compute the total mass of the model and return it. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Scalar	computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Compute the total mass of the model, put it in data.mass[0] and return it. More...
template<typename Scalar , int Options, template< typename 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...
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)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	copy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &origin, DataTpl< Scalar, Options, JointCollectionTpl > &dest, KinematicLevel kinematic_level)
	Copy part of the data from origin to dest. Template parameter can be used to select at which differential level the copy should occur. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	crba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M. More...
template<typename Scalar , int Options, template< typename, 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...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointDataTpl< Scalar, Options, JointCollectionTpl >	createData (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through CreateData visitor to create a JointDataTpl. More...
template<typename Vector3 , typename Matrix3x >
Matrix3x	cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3x > &M)
	Applies the cross product onto the columns of M. More...
template<typename Vector3 , typename Matrix3xIn , typename Matrix3xOut >
void	cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3xIn > &Min, const Eigen::MatrixBase< Matrix3xOut > &Mout)
	Applies the cross product onto the columns of M. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	dccrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration and velocity vectors. More...
template<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)
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void	dDifference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg)
template<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)
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class Tangent_t >
void	difference (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, int self, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrateTransport (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out, const ArgumentPosition arg)
template<typename LieGroupCollection , class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrateTransport (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	dinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition. More...
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
ConfigL_t::Scalar	distance (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like ::Options >	exp3 (const Eigen::MatrixBase< Vector3Like > &v)
	Exp: so3 -> SO3. More...
template<typename Vector6Like >
SE3Tpl< typename Vector6Like::Scalar, Vector6Like ::Options >	exp6 (const Eigen::MatrixBase< Vector6Like > &v)
	Exp: se3 -> SE3. More...
template<typename MotionDerived >
SE3Tpl< typename MotionDerived::Scalar, typename MotionDerived::Vector3 ::Options >	exp6 (const MotionDense< MotionDerived > &nu)
	Exp: se3 -> SE3. More...
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...
void	extractPathFromEnvVar (const std::string &env_var_name, std::vector< std::string > &list_of_paths, const std::string &delimiter=":")
	Parse an environment variable if exists and extract paths according to the delimiter. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, 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...
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...
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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Update the joint placements according to the current joint configuration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
void	forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Update the joint placements and spatial velocities according to the current joint configuration and velocity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Update the joint placements, spatial velocities and spatial accelerations according to the current joint configuration, velocity and acceleration. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType &	frameBodyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex 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...
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...
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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	First calls the forwardKinematics on the model, then computes the placement of each frame. /sa pinocchio::forwardKinematics. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the spatial acceleration of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut >
void	getCenterOfMassVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)
	Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration q. You must first call computeAllTerms(model,data,q,v) or computeCenterOfMass(model,data,q,v) before calling this function. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xLike0 , typename Matrix6xLike1 , typename Matrix6xLike2 , typename Matrix6xLike3 >
void	getCentroidalDynamicsDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix6xLike1 > &dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &dhdot_da)
	Retrive the analytical derivatives of the centroidal dynamics from the RNEA derivatives. pinocchio::computeRNEADerivatives should have been called first. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the "classical" acceleration of the joint expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 &	getComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	getCoriolisMatrix (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Retrives the Coriolis Matrix \( C(q,\dot{q}) \) of the Lagrangian dynamics: More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the spatial acceleration of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
	Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >
void	getFrameAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da)
	Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the "classical" acceleration of the Frame expressed in the desired reference frame. This is different from the "spatial" acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, 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...
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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
	Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, 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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	getJacobianComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Extracts both the jacobian of the center of mass (CoM), the total mass of the system and the CoM position from the joint space inertia matrix (also called the mass matrix). The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both expressed in the world frame. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >
void	getJacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Retrieves the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that pinocchio::jacobianCenterOfMass has been called first with computeSubtreeComs equals to true. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 >
void	getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_da)
	Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 , typename Matrix6xOut3 , typename Matrix6xOut4 , typename Matrix6xOut5 >
void	getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &a_partial_da)
	Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, 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...
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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
Tensor< Scalar, 3, Options >	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf)
	Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to \( q \), the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf, Tensor< Scalar, 3, Options > &kinematic_hessian)
	Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians and stored in data. While the kinematic Jacobian of a given joint frame corresponds to the first order derivative of the placement variation with respect to \( q \), the kinematic Hessian corresponds to the second order derivation of placement variation, which in turns also corresponds to the first order derivative of the kinematic Jacobian. The frame in which the kinematic Hessian is precised by the input argument rf. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix6xOut1 , typename Matrix6xOut2 >
void	getJointVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xOut1 > &v_partial_dq, const Eigen::MatrixBase< Matrix6xOut2 > &v_partial_dv)
	Computes the partial derivaties of the spatial velocity of a given with respect to the joint configuration and velocity. You must first call computForwardKinematicsDerivatives before calling this function. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConstraintMatrixType , typename KKTMatrixType >
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...
int	getOpenMPNumThreadsEnv ()
	Returns the number of thread defined by the environment variable OMP_NUM_THREADS. If this variable is not defined, this simply returns the default value 1.
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
MotionTpl< Scalar, Options >	getVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
	Returns the spatial velocity of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
const std::vector< bool >	hasConfigurationLimit (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointConfigurationLimitVisitor to get the configurations limits. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
const std::vector< bool >	hasConfigurationLimitInTangent (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointConfigurationLimitInTangentVisitor to get the configurations limits in tangent space. More...
template<typename Derived >
bool	hasNaN (const Eigen::DenseBase< Derived > &m)
template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	hasSameIndexes (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel)
	Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived. More...
template<typename Matrix3Like1 , typename Vector3Like , typename Matrix3Like2 >
void	Hlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like2 > &vt_Hlog)
	Second order derivative of log3. More...
template<typename Scalar , typename Vector3Like1 , typename Vector3Like2 , typename Matrix3Like >
void	Hlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like1 > &log, const Eigen::MatrixBase< Vector3Like2 > &v, const Eigen::MatrixBase< Matrix3Like > &vt_Hlog)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
JointIndex	id (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	idx_q (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	idx_v (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType , typename ConstraintMatrixType >
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...
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...
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...
template<typename LieGroupCollection , class ConfigIn_t , class Tangent_t , class ConfigOut_t >
void	integrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
	Visit a LieGroupVariant to call its integrate method. More...
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	interpolate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const typename ConfigL_t::Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout)
template<typename MatrixIn , typename MatrixOut >
void	inverse (const Eigen::MatrixBase< MatrixIn > &m_in, const Eigen::MatrixBase< MatrixOut > &dest)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	isEqual (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointDataBase< JointDataDerived > &jmodel)
	Visit a JointDataTpl<Scalar,...> to compare it to another JointData. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	isEqual (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel)
	Visit a JointModelTpl<Scalar,...> to compare it to JointModelDerived. More...
template<typename VectorLike >
bool	isNormalized (const Eigen::MatrixBase< VectorLike > &vec, const typename VectorLike::RealScalar &prec=Eigen::NumTraits< typename VectorLike::Scalar >::dummy_precision())
	Check whether the input vector is Normalized within the given precision. More...
template<typename LieGroupCollection , class Config_t >
bool	isNormalized (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qin, const typename Config_t::Scalar &prec=Eigen::NumTraits< typename Config_t::Scalar >::dummy_precision())
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
bool	isSameConfiguration (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const typename ConfigL_t::Scalar &prec)
template<typename MatrixLike >
bool	isUnitary (const Eigen::MatrixBase< MatrixLike > &mat, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())
	Check whether the input matrix is Unitary within the given precision. More...
template<typename MatrixLike >
bool	isZero (const Eigen::MatrixBase< MatrixLike > &m, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	jacobianCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
	Computes both the jacobian and the the center of mass position of a given model according to the current value stored in data. It assumes that forwardKinematics has been called first. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	jacobianCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool computeSubtreeComs=true)
	Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration. The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame. In addition, the algorithm also computes the Jacobian of all the joints (. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename Matrix3xLike >
void	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Computes the Jacobian of the center of mass of the given subtree according to a particular joint configuration. In addition, the algorithm also computes the Jacobian of all the joints (. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xLike >
void	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
	Computes the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that forwardKinematics has been called first. More...
template<AssignmentOperatorType op, typename Vector3Like , typename Matrix3Like >
void	Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
	Derivative of \( \exp{r} \). More...
template<typename Vector3Like , typename Matrix3Like >
void	Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
	Derivative of \( \exp{r} \). More...
template<AssignmentOperatorType op, typename MotionDerived , typename Matrix6Like >
void	Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
	Derivative of exp6 Computed as the inverse of Jlog6.
template<typename MotionDerived , typename Matrix6Like >
void	Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
	Derivative of exp6 Computed as the inverse of Jlog6.
template<typename Matrix3Like1 , typename Matrix3Like2 >
void	Jlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Matrix3Like2 > &Jlog)
	Derivative of log3. More...
template<typename Scalar , typename Vector3Like , typename Matrix3Like >
void	Jlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like > &log, const Eigen::MatrixBase< Matrix3Like > &Jlog)
	Derivative of log3. More...
template<typename Scalar , int Options, typename Matrix6Like >
void	Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog)
	Derivative of log6. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
SE3Tpl< Scalar, Options >	joint_transform (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint). More...
template<typename Scalar , int Options, template< typename, 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...
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...
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...
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options >	log3 (const Eigen::MatrixBase< Matrix3Like > &R)
	Log: SO(3)-> so(3). More...
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like ::Options >	log3 (const Eigen::MatrixBase< Matrix3Like > &R, typename Matrix3Like::Scalar &theta)
	Same as log3. More...
template<typename Matrix4Like >
MotionTpl< typename Matrix4Like::Scalar, Eigen::internal::traits< Matrix4Like >::Options >	log6 (const Eigen::MatrixBase< Matrix4Like > &M)
	Log: SE3 -> se3. More...
template<typename Scalar , int Options>
MotionTpl< Scalar, Options >	log6 (const SE3Tpl< Scalar, Options > &M)
	Log: SE3 -> se3. More...
AlgorithmCheckerList< ParentChecker, CRBAChecker, ABAChecker >	makeDefaultCheckerList ()
	Default checker-list, used as the default argument in Model::check().
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
MotionTpl< Scalar, Options >	motion (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion. More...
template<typename LieGroupCollection >
std::string	name (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the name of it. More...
template<typename LieGroupCollection >
Eigen::Matrix< typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options >	neutral (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the neutral element of it. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	nonLinearEffects (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the bias terms \( b(q,\dot{q}) \) of the Lagrangian dynamics: More...
template<typename LieGroupCollection , class Config_t >
void	normalize (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout)
template<typename Matrix3 >
void	normalizeRotation (const Eigen::MatrixBase< Matrix3 > &rot)
	Orthogonormalization procedure for a rotation matrix (closed enough to SO(3)). More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	nq (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space. More...
template<typename LieGroupCollection >
int	nq (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the dimension of the Lie group configuration space. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
int	nv (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space. More...
template<typename LieGroupCollection >
int	nv (const LieGroupGenericTpl< LieGroupCollection > &lg)
	Visit a LieGroupVariant to get the dimension of the Lie group tangent space. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	operator!= (const JointDataBase< JointDataDerived > &joint_data, const JointDataTpl< Scalar, Options, JointCollectionTpl > &joint_data_generic)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	operator!= (const JointModelBase< JointModelDerived > &joint_model, const JointModelTpl< Scalar, Options, JointCollectionTpl > &joint_model_generic)
template<typename Scalar , int Options, typename Vector6Like >
MotionRef< const Vector6Like >	operator* (const ConstraintIdentityTpl< Scalar, Options > &, const Eigen::MatrixBase< Vector6Like > &v)
template<typename M6Like , typename S2 , int O2>
Eigen::Matrix< S2, 6, 3, O2 >	operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintPlanarTpl< S2, O2 > &)
template<typename M6Like , typename S2 , int O2>
SizeDepType< 3 >::ColsReturn< M6Like >::ConstType	operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintSphericalTpl< S2, O2 > &)
template<typename M6Like , typename S2 , int O2>
const SizeDepType< 3 >::ColsReturn< M6Like >::ConstType	operator* (const Eigen::MatrixBase< M6Like > &Y, const ConstraintTranslationTpl< S2, O2 > &)
template<typename Matrix6Like , typename S2 , int O2>
const Matrix6Like &	operator* (const Eigen::MatrixBase< Matrix6Like > &Y, const ConstraintIdentityTpl< S2, O2 > &)
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)
template<typename MatrixDerived , typename ConstraintDerived >
MultiplicationOp< Eigen::MatrixBase< MatrixDerived >, ConstraintDerived >::ReturnType	operator* (const Eigen::MatrixBase< MatrixDerived > &Y, const ConstraintBase< ConstraintDerived > &constraint)
	More...
template<typename S1 , int O1, typename S2 , int O2>
InertiaTpl< S1, O1 >::Matrix6	operator* (const InertiaTpl< S1, O1 > &Y, const ConstraintIdentityTpl< S2, O2 > &)
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 > &)
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 > &)
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)
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 > &)
template<typename Scalar , int Options, typename ConstraintDerived >
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType	operator* (const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint)
	More...
template<typename MotionDerived >
internal::RHSScalarMultiplication< MotionDerived, typename MotionDerived::Scalar >::ReturnType	operator* (const typename MotionDerived::Scalar &alpha, const MotionBase< MotionDerived > &motion)
template<typename F1 >
traits< F1 >::ForcePlain	operator* (const typename traits< F1 >::Scalar alpha, const ForceDense< F1 > &f)
	Basic operations specialization.
template<typename M1 >
traits< M1 >::MotionPlain	operator* (const typename traits< M1 >::Scalar alpha, const MotionDense< M1 > &v)
template<typename M1 , typename Scalar , int Options>
const M1 &	operator+ (const MotionBase< M1 > &v, const MotionZeroTpl< Scalar, Options > &)
template<typename Scalar , int Options, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPlanarTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2)
template<typename Scalar , int Options, int axis, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPrismaticTpl< Scalar, Options, axis > &m1, const MotionDense< MotionDerived > &m2)
template<typename Scalar , int Options, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionPrismaticUnalignedTpl< Scalar, Options > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, int axis, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionRevoluteTpl< S1, O1, axis > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionRevoluteUnalignedTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionSphericalTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)
template<typename S1 , int O1, typename MotionDerived >
MotionDerived::MotionPlain	operator+ (const MotionTranslationTpl< S1, O1 > &m1, const MotionDense< MotionDerived > &m2)
template<typename Scalar , int Options, typename M1 >
const M1 &	operator+ (const MotionZeroTpl< Scalar, Options > &, const MotionBase< M1 > &v)
template<typename Scalar , int Options>
std::ostream &	operator<< (std::ostream &os, const FrameTpl< Scalar, Options > &f)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
std::ostream &	operator<< (std::ostream &os, const JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > &jdata)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
std::ostream &	operator<< (std::ostream &os, const JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > &jmodel)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived >
bool	operator== (const JointDataBase< JointDataDerived > &joint_data, const JointDataTpl< Scalar, Options, JointCollectionTpl > &joint_data_generic)
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived >
bool	operator== (const JointModelBase< JointModelDerived > &joint_model, const JointModelTpl< Scalar, Options, JointCollectionTpl > &joint_model_generic)
template<typename M1 , typename F1 >
traits< F1 >::ForcePlain	operator^ (const MotionDense< M1 > &v, const ForceBase< F1 > &f)
template<typename M1 , typename M2 >
traits< M1 >::MotionPlain	operator^ (const MotionDense< M1 > &v1, const MotionDense< M2 > &v2)
	Basic operations specialization.
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPlanarTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2, int axis>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticTpl< S2, O2, axis > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionPrismaticUnalignedTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2, int axis>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteTpl< S2, O2, axis > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionRevoluteUnalignedTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionSphericalTpl< S2, O2 > &m2)
template<typename MotionDerived , typename S2 , int O2>
MotionDerived::MotionPlain	operator^ (const MotionDense< MotionDerived > &m1, const MotionTranslationTpl< S2, O2 > &m2)
template<typename Matrix3 >
Matrix3	orthogonalProjection (const Eigen::MatrixBase< Matrix3 > &mat)
	Orthogonal projection of a matrix on the SO(3) manifold. More...
template<typename Scalar >
const Scalar	PI ()
	Returns the value of PI according to the template parameters Scalar. More...
typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector
typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector
	PINOCCHIO_DEFINE_COMPARISON_OP (equal_to_op,==)
	PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_op,>)
	PINOCCHIO_DEFINE_COMPARISON_OP (greater_than_or_equal_to_op,>=)
	PINOCCHIO_DEFINE_COMPARISON_OP (less_than_op,<)
	PINOCCHIO_DEFINE_COMPARISON_OP (less_than_or_equal_to_op,<=)
	PINOCCHIO_DEFINE_COMPARISON_OP (not_equal_to_op,!=)
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...
std::string	printVersion (const std::string &delimiter=".")
	Returns the current version of Pinocchio as a string using the following standard: PINOCCHIO_MINOR_VERSION.PINOCCHIO_MINOR_VERSION.PINOCCHIO_PATCH_VERSION.
template<typename LieGroupCollection , class Config_t >
void	random (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< Config_t > &qout)
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	randomConfiguration (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< ConfigOut_t > &qout)
std::string	randomStringGenerator (const int len)
	Generate a random string composed of alphanumeric symbols of a given length. More...
std::string	retrieveResourcePath (const std::string &string, const std::vector< std::string > &package_dirs)
	Retrieve the path of the file whose path is given in URL-format. Currently convert from the following patterns : package:// or file://. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename 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...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	rnea (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system and the desired joint accelerations. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename ForceDerived >
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	rnea (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const container::aligned_vector< ForceDerived > &fext)
	The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques according to the current state of the system, the desired joint accelerations and the external forces. More...
std::vector< std::string >	rosPaths ()
	Parse the environment variables ROS_PACKAGE_PATH / AMENT_PREFIX_PATH and extract paths. More...
PINOCCHIO_DEPRECATED void	setGeometryMeshScales (GeometryModel &geom_model, const double meshScale)
	Set an isotropic mesh scaling to each GeometryObject contained in the the GeometryModel. More...
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...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
void	setIndexes (JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
	Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
std::string	shortname (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
	Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model. More...
template<typename Scalar >
Scalar	sign (const Scalar &t)
	Returns the robust sign of t.
template<typename S1 , typename S2 , typename S3 >
void	SINCOS (const S1 &a, S2 *sa, S3 *ca)
	Computes sin/cos values of a given input scalar. More...
template<typename D >
Eigen::Matrix< typename D::Scalar, 3, 3, D ::Options >	skew (const Eigen::MatrixBase< D > &v)
	Computes the skew representation of a given 3D vector, i.e. the antisymmetric matrix representation of the cross product operator. More...
template<typename Vector3 , typename Matrix3 >
void	skew (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
	Computes the skew representation of a given 3d vector, i.e. the antisymmetric matrix representation of the cross product operator ( \( [v]_{\times} x = v \times x \)) More...
template<typename V1 , typename V2 >
Eigen::Matrix< typename V1::Scalar, 3, 3, V1 ::Options >	skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v)
	Computes the square cross product linear operator C(u,v) such that for any vector w, \( u \times ( v \times w ) = C(u,v) w \). More...
template<typename V1 , typename V2 , typename Matrix3 >
void	skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v, const Eigen::MatrixBase< Matrix3 > &C)
	Computes the square cross product linear operator C(u,v) such that for any vector w, \( u \times ( v \times w ) = C(u,v) w \). More...
template<typename LieGroupCollection , class ConfigL_t , class ConfigR_t >
ConfigL_t::Scalar	squaredDistance (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)
hpp::fcl::Transform3f	toFclTransform3f (const SE3 &m)
SE3	toPinocchioSE3 (const hpp::fcl::Transform3f &tf)
template<typename Vector3 , typename Scalar , typename Matrix3 >
void	toRotationMatrix (const Eigen::MatrixBase< Vector3 > &axis, const Scalar &cos_value, const Scalar &sin_value, const Eigen::MatrixBase< Matrix3 > &res)
	Computes a rotation matrix from a vector and values of sin and cos orientations values. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	u_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition. More...
template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl>
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	udinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
	Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition. More...
template<typename Matrix3 >
Eigen::Matrix< typename Matrix3 ::Scalar, 3, 1, Matrix3 ::Options >	unSkew (const Eigen::MatrixBase< Matrix3 > &M)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes \( v \) such that \( M x = v \times x \). More...
template<typename Matrix3 , typename Vector3 >
void	unSkew (const Eigen::MatrixBase< Matrix3 > &M, const Eigen::MatrixBase< Vector3 > &v)
	Inverse of skew operator. From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M. Mathematically speacking, it computes \( v \) such that \( M x = v \times x \). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::SE3 &	updateFramePlacement (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const FrameIndex frame_id)
	Updates the placement of the given frame. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateFramePlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Updates the position of each frame contained in the model. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
	Update the placement of the geometry objects according to the current joint placements contained in data. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Apply a forward kinematics and update the placement of the geometry objects. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	updateGlobalPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
	Update the global placement of the joints oMi according to the relative placements of the joints. More...

Variables
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef BiasZeroTpl< double, 0 >	BiasZero
template<typename Scalar , int Options = 0>
struct PINOCCHIO_DEPRECATED	BiasZeroTpl

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

Detailed Description

Main pinocchio namespace.

Enumeration Type Documentation

anonymous enum

anonymous enum

Definition at line 14 of file fwd.hpp.

FrameType

enum FrameType

Enum on the possible types of frames.

Note

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

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

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

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

Definition at line 28 of file frame.hpp.

Function Documentation

aba() [1/3]

void pinocchio::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.

Template Parameters

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

Parameters

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

Definition at line 32 of file aba.hpp.

aba() [2/3]

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::aba ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau  )

inline

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

Template Parameters

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

Parameters

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

Note

This also overwrites data.f, possibly leaving it in an inconsistent state

Returns

The current joint acceleration stored in data.ddq.

aba() [3/3]

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::aba ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau, const container::aligned_vector< ForceDerived > &  fext  )

inline

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

Template Parameters

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

Parameters

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

Note

This also overwrites data.f, possibly leaving it in an inconsistent state

Returns

The current joint acceleration stored in data.ddq.

addSkew()

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

inline

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

Parameters

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

Definition at line 60 of file skew.hpp.

alphaSkew() [1/2]

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

inline

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

Parameters

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

Returns

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

Definition at line 150 of file skew.hpp.

alphaSkew() [2/2]

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

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

Parameters

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

Definition at line 124 of file skew.hpp.

appendGeometryModel()

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

inline

Append geom_model2 to geom_model1

The steps for appending are:

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

Parameters

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

Note

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

Todo:

This function is not asserted in unittest.

appendModel() [1/3]

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

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

Parameters

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

Returns

A new model containing the fusion of modelA and modelB.

Definition at line 44 of file model.hpp.

appendModel() [2/3]

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

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

Parameters

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

appendModel() [3/3]

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

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

Parameters

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

appendSuffixToPaths()

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

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

Parameters

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

Definition at line 46 of file file-explorer.cpp.

axisLabel()

char pinocchio::axisLabel ( )

inline

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

Template Parameters

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

Returns

a char containing the label of the axis.

bias()

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

inline

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

Parameters

[in]

jdata

The joint data to visit.

Returns

The motion dense corresponding to the joint derived bias

bodyRegressor() [1/2]

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

inline

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

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

Parameters

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

Returns

The regressor of the body.

bodyRegressor() [2/2]

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

inline

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

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

Parameters

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

buildReducedModel() [1/4]

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

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

Parameters

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

Remarks

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

buildReducedModel() [2/4]

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

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

Parameters

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

Remarks

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

buildReducedModel() [3/4]

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

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

Parameters

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

Returns

A reduce model of the input model.

Remarks

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

Definition at line 112 of file model.hpp.

buildReducedModel() [4/4]

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

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

Parameters

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

Remarks

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

Todo:

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

calc_aba()

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

inline

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to.

Template Parameters

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

Parameters

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

calc_first_order()

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

inline

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

Template Parameters

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

Parameters

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

calc_zero_order()

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

inline

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

Template Parameters

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

Parameters

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

cast_joint()

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

(

const JointModelTpl< Scalar, Options, JointCollectionTpl > &

jmodel

)

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

Template Parameters

NewScalar

new scalar type of of the JointModelTpl

Parameters

[in]

jmodel

The joint model to cast.

Returns

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

ccrba()

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

inline

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

Template Parameters

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

Parameters

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

Returns

The Centroidal Momentum Matrix Ag.

Remarks

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

centerOfMass() [1/5]

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

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Definition at line 167 of file center-of-mass.hpp.

centerOfMass() [2/5]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

centerOfMass() [3/5]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

centerOfMass() [4/5]

const DataTpl<Scalar,Options,JointCollectionTpl>::Vector3& pinocchio::centerOfMass ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a, const bool  computeSubtreeComs = true  )

inline

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

Template Parameters

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

Parameters

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

Returns

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

centerOfMass() [5/5]

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

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

checkData()

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

inline

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

Parameters

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

Returns

True if data is valid wrt model.

checkModelFileExtension()

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

inline

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

Parameters

[in]

filename

The complete path to the model file.

Returns

The type of the extension of the model file

Definition at line 39 of file utils.hpp.

checkVersionAtLeast()

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

inline

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

Parameters

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

Returns

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

Definition at line 42 of file version.hpp.

computeABADerivatives() [1/4]

void pinocchio::computeABADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau  )

inline

The derivatives of the Articulated-Body algorithm.

Template Parameters

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

Parameters

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

Returns

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

See also

pinocchio::aba and

pinocchio::computeABADerivatives.

Definition at line 105 of file aba-derivatives.hpp.

computeABADerivatives() [2/4]

void pinocchio::computeABADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau, const container::aligned_vector< ForceTpl< Scalar, Options > > &  fext  )

inline

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

Template Parameters

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

Parameters

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

Returns

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

See also

pinocchio::aba and

pinocchio::computeABADerivatives.

Definition at line 137 of file aba-derivatives.hpp.

computeABADerivatives() [3/4]

void pinocchio::computeABADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau, const container::aligned_vector< ForceTpl< Scalar, Options > > &  fext, const Eigen::MatrixBase< MatrixType1 > &  aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &  aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &  aba_partial_dtau  )

inline

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

Template Parameters

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

Parameters

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

Note

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

See also

pinocchio::aba

computeABADerivatives() [4/4]

void pinocchio::computeABADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau, const Eigen::MatrixBase< MatrixType1 > &  aba_partial_dq, const Eigen::MatrixBase< MatrixType2 > &  aba_partial_dv, const Eigen::MatrixBase< MatrixType3 > &  aba_partial_dtau  )

inline

The derivatives of the Articulated-Body algorithm.

Template Parameters

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

Parameters

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

Note

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

See also

pinocchio::aba

computeAllTerms()

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

inline

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

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

Template Parameters

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

Parameters

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

Returns

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

computeBodyRadius()

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

inline

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

Parameters

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

See also

GeometryData::radius

computeCentroidalDynamics() [1/2]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

Deprecated:

This function has been renamed into computeCentroidalMomentum. This signature will be removed in a future release of Pinocchio. Please consider using this new naming.

Definition at line 70 of file centroidal.hpp.

computeCentroidalDynamics() [2/2]

const PINOCCHIO_DEPRECATED DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::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  )

inline

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

Template Parameters

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

Parameters

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

Returns

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

Deprecated:

This function has been renamed into computeCentroidalMomentumTimeVariation. This signature will be removed in a future release of Pinocchio. Please consider using this new naming.

Definition at line 138 of file centroidal.hpp.

computeCentroidalDynamicsDerivatives()

void pinocchio::computeCentroidalDynamicsDerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a, const Eigen::MatrixBase< Matrix6xLike0 > &  dh_dq, const Eigen::MatrixBase< Matrix6xLike1 > &  dhdot_dq, const Eigen::MatrixBase< Matrix6xLike2 > &  dhdot_dv, const Eigen::MatrixBase< Matrix6xLike3 > &  dhdot_da  )

inline

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

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

Template Parameters

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

Parameters

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

Returns

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

computeCentroidalMap()

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

inline

Computes the Centroidal Momentum Matrix,.

Template Parameters

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

Parameters

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

Returns

The Centroidal Momentum Matrix Ag.

Remarks

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

computeCentroidalMapTimeVariation()

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

inline

Computes the Centroidal Momentum Matrix time derivative.

Template Parameters

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

Parameters

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

Returns

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

Remarks

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

computeCentroidalMomentum() [1/2]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

computeCentroidalMomentum() [2/2]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

Definition at line 53 of file centroidal.hpp.

computeCentroidalMomentumTimeVariation() [1/2]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

computeCentroidalMomentumTimeVariation() [2/2]

const DataTpl<Scalar,Options,JointCollectionTpl>::Force& pinocchio::computeCentroidalMomentumTimeVariation ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a  )

inline

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

Template Parameters

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

Parameters

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

Returns

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

Definition at line 120 of file centroidal.hpp.

computeCollision()

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

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

Parameters

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

Returns

Return true is the collision objects are colliding.

Note

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

computeCollisions() [1/2]

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

inline

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

Parameters

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

Warning

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

computeCollisions() [2/2]

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

inline

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

Template Parameters

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

Parameters

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

Warning

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

Note

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

computeCoriolisMatrix()

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

inline

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

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

Note

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

Template Parameters

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

Parameters

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

Returns

The Coriolis matrix stored in data.C.

computeDistance()

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

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

Parameters

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

Returns

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

Note

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

computeDistances() [1/2]

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

inline

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Note

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

computeDistances() [2/2]

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

inline

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

Template Parameters

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

Parameters

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

Note

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

computeForwardKinematicsDerivatives()

void pinocchio::computeForwardKinematicsDerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a  )

inline

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

Template Parameters

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

Parameters

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

Remarks

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

computeFrameJacobian() [1/2]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

Remarks

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

Definition at line 218 of file frames.hpp.

computeFrameJacobian() [2/2]

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

Remarks

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

computeFrameKinematicRegressor() [1/2]

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

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

Remarks

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

Parameters

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

Definition at line 119 of file regressor.hpp.

computeFrameKinematicRegressor() [2/2]

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

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

Remarks

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

Parameters

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

computeGeneralizedGravity()

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

inline

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

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

Note

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

Template Parameters

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

Parameters

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

Returns

The generalized gravity torque stored in data.g.

computeGeneralizedGravityDerivatives()

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

inline

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

Template Parameters

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

Parameters

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

Remarks

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

See also

pinocchio::computeGeneralizedGravity

computeJointJacobian()

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

Remarks

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

computeJointJacobians() [1/2]

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

inline

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

Note

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

See also

pinocchio::getJointJacobian for doing this specific extraction.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Returns

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

computeJointJacobians() [2/2]

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

inline

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

Note

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

See also

pinocchio::getJointJacobian for doing this specific extraction.

Template Parameters

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

Parameters

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

Returns

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

computeJointJacobiansTimeVariation()

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

computeJointKinematicHessians() [1/2]

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

inline

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

Template Parameters

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

Parameters

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

Remarks

This function is also related to

See also

getJointKinematicHessian.

computeJointKinematicHessians() [2/2]

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

inline

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

Template Parameters

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

Parameters

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

Remarks

This function is also related to

See also

getJointKinematicHessian.

Definition at line 164 of file kinematics-derivatives.hpp.

computeJointKinematicRegressor() [1/4]

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

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

Remarks

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

Parameters

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

Definition at line 81 of file regressor.hpp.

computeJointKinematicRegressor() [2/4]

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

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

Remarks

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

Parameters

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

computeJointKinematicRegressor() [3/4]

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

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

Remarks

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

Parameters

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

Definition at line 42 of file regressor.hpp.

computeJointKinematicRegressor() [4/4]

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

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

Remarks

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

Parameters

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

computeJointTorqueRegressor()

DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs& pinocchio::computeJointTorqueRegressor ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a  )

inline

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

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

Template Parameters

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

Parameters

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

Returns

The joint torque regressor of the system.

Warning

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

computeKineticEnergy() [1/2]

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

inline

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Returns

The kinetic energy of the system in [J].

computeKineticEnergy() [2/2]

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

inline

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

Template Parameters

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

Parameters

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

Returns

The kinetic energy of the system in [J].

Definition at line 48 of file energy.hpp.

computeKKTContactDynamicMatrixInverse()

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

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

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

Parameters

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

computeMinverse()

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

inline

Computes the inverse of the joint space inertia matrix using Articulated Body formulation.

Remarks

Only the upper triangular part of the matrix is filled.

Template Parameters

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

Parameters

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

Returns

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

computePotentialEnergy() [1/2]

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

inline

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

Template Parameters

JointCollection

Collection of Joint types.

Note

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

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Returns

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

computePotentialEnergy() [2/2]

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

inline

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

Template Parameters

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

Note

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

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

Parameters

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

Returns

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

Definition at line 131 of file energy.hpp.

computeRNEADerivatives() [1/4]

void pinocchio::computeRNEADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a  )

inline

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

Template Parameters

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

Parameters

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

Returns

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

See also

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

Definition at line 167 of file rnea-derivatives.hpp.

computeRNEADerivatives() [2/4]

void pinocchio::computeRNEADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a, const container::aligned_vector< ForceTpl< Scalar, Options > > &  fext  )

inline

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

Template Parameters

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

Parameters

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

Returns

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

See also

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

Definition at line 201 of file rnea-derivatives.hpp.

computeRNEADerivatives() [3/4]

void pinocchio::computeRNEADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a, const container::aligned_vector< ForceTpl< Scalar, Options > > &  fext, const Eigen::MatrixBase< MatrixType1 > &  rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &  rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &  rnea_partial_da  )

inline

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

Template Parameters

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

Parameters

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

Remarks

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

See also

pinocchio::rnea

computeRNEADerivatives() [4/4]

void pinocchio::computeRNEADerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a, const Eigen::MatrixBase< MatrixType1 > &  rnea_partial_dq, const Eigen::MatrixBase< MatrixType2 > &  rnea_partial_dv, const Eigen::MatrixBase< MatrixType3 > &  rnea_partial_da  )

inline

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

Template Parameters

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

Parameters

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

Remarks

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

See also

pinocchio::rnea

ComputeRNEASecondOrderDerivatives() [1/2]

void pinocchio::ComputeRNEASecondOrderDerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a  )

inline

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

Template Parameters

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

Parameters

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

Returns

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

Remarks

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

See also

Definition at line 126 of file rnea-second-order-derivatives.hpp.

ComputeRNEASecondOrderDerivatives() [2/2]

void pinocchio::ComputeRNEASecondOrderDerivatives ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a, const Tensor1 &  d2tau_dqdq, const Tensor2 &  d2tau_dvdv, const Tensor3 &  dtau_dqdv, const Tensor4 &  dtau_dadq  )

inline

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

Template Parameters

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

Parameters

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

Remarks

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

See also

computeStaticRegressor()

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

inline

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

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

Template Parameters

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

Parameters

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

Returns

The static regressor of the system.

Template Parameters

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

Parameters

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

Returns

The static regressor of the system.

Deprecated:

This function is now in the main pinocchio namespace

Definition at line 176 of file regressor.hpp.

computeStaticTorque()

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

inline

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

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

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

Note

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

Template Parameters

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

Parameters

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

Returns

The generalized static torque stored in data.tau.

computeStaticTorqueDerivatives()

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

inline

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

Template Parameters

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

Parameters

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

Remarks

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

See also

pinocchio::computeGeneralizedTorque

computeSubtreeMasses()

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

inline

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

Parameters

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

Note

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

computeSupportedForceByFrame()

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

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

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

Note

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

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

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Returns

The computed force.

Warning

pinocchio::rnea should have been called first

computeSupportedInertiaByFrame()

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

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

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

Note

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

The equivalent function for a joint would be :

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Returns

The computed inertia.

Warning

forwardKinematics should have been called first

computeTotalMass() [1/2]

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

inline

Compute the total mass of the model and return it.

Parameters

[in]

model

The model structure of the rigid body system.

Returns

Total mass of the model.

computeTotalMass() [2/2]

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

inline

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

Parameters

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

Warning

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

Returns

Total mass of the model.

constraint_xd()

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

inline

Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint.

Parameters

[in]

jdata

The joint data to visit.

Returns

The constraint dense corresponding to the joint derived constraint

copy()

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

inline

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Definition at line 52 of file copy.hpp.

crba()

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

inline

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

Note

You can easly get data.M symetric by copying the stricly upper trinangular part in the stricly lower tringular part with data.M.triangularView<Eigen::StrictlyLower>() = data.M.transpose().triangularView<Eigen::StrictlyLower>();

Template Parameters

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

Parameters

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

Returns

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

crbaMinimal()

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

inline

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

Note

You can easly get data.M symetric by copying the stricly upper trinangular part in the stricly lower tringular part with data.M.triangularView<Eigen::StrictlyLower>() = data.M.transpose().triangularView<Eigen::StrictlyLower>();

Template Parameters

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

Note

A direct outcome of this algorithm is the computation of the centroidal momemntum matrix (data.Ag) and the joint jacobian matrix (data.J).

Parameters

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

Returns

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

createData()

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

inline

Visit a JointModelTpl through CreateData visitor to create a JointDataTpl.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]

jmodel

The JointModelTpl we want to create a data for.

Returns

The created JointDataTpl

cross() [1/2]

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

inline

Applies the cross product onto the columns of M.

Parameters

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

Returns

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

Definition at line 236 of file skew.hpp.

cross() [2/2]

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

inline

Applies the cross product onto the columns of M.

Parameters

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

Returns

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

Definition at line 211 of file skew.hpp.

dccrba()

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

inline

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

Note

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

Template Parameters

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

Parameters

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

Returns

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

Remarks

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

dDifference() [1/2]

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

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

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

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

Parameters

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

Definition at line 507 of file joint-configuration.hpp.

dDifference() [2/2]

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

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

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

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

Parameters

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

Definition at line 507 of file joint-configuration.hpp.

difference() [1/4]

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

inline

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

Parameters

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

Returns

The corresponding velocity (size model.nv)

Parameters

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

Returns

The corresponding velocity (size model.nv)

Definition at line 841 of file joint-configuration.hpp.

difference() [2/4]

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

inline

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

Parameters

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

Returns

The corresponding velocity (size model.nv)

Definition at line 841 of file joint-configuration.hpp.

difference() [3/4]

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

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

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

Parameters

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

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

Parameters

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

Definition at line 142 of file joint-configuration.hpp.

difference() [4/4]

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

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

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

Parameters

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

Definition at line 142 of file joint-configuration.hpp.

dIntegrate() [1/3]

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

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

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

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

Parameters

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

Definition at line 308 of file joint-configuration.hpp.

dIntegrate() [2/3]

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

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

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

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

Parameters

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

Definition at line 337 of file joint-configuration.hpp.

dIntegrate() [3/3]

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

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

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

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

Parameters

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

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

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

Parameters

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

Definition at line 337 of file joint-configuration.hpp.

dIntegrateTransport() [1/4]

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

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

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

Parameters

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

Definition at line 454 of file joint-configuration.hpp.

dIntegrateTransport() [2/4]

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

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

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

Parameters

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

Definition at line 454 of file joint-configuration.hpp.

dIntegrateTransport() [3/4]

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

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

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

Parameters

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

Definition at line 398 of file joint-configuration.hpp.

dIntegrateTransport() [4/4]

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

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

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

Parameters

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

Definition at line 398 of file joint-configuration.hpp.

dinv_inertia()

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

inline

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

Parameters

[in]

jdata

The jdata

Returns

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

distance() [1/2]

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

inline

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

Parameters

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

Returns

The distance between the two configurations q0 and q1.

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

Parameters

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

Returns

The distance between the two configurations q0 and q1.

Definition at line 581 of file joint-configuration.hpp.

distance() [2/2]

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

inline

Distance between two configuration vectors.

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

Parameters

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

Returns

The distance between the two configurations q0 and q1.

Definition at line 581 of file joint-configuration.hpp.

exp3()

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

(

const Eigen::MatrixBase< Vector3Like > &

v

)

Exp: so3 -> SO3.

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

Parameters

[in]

v

The angular velocity vector.

Returns

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

Definition at line 34 of file explog.hpp.

exp6() [1/2]

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

(

const Eigen::MatrixBase< Vector6Like > &

v

)

Exp: se3 -> SE3.

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

Parameters

[in]

v

The twist represented by a vector.

Returns

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

Definition at line 385 of file explog.hpp.

exp6() [2/2]

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

(

const MotionDense< MotionDerived > &

nu

)

Exp: se3 -> SE3.

Return the integral of the input twist during time 1.

Parameters

[in]

nu

The input twist.

Returns

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

Definition at line 326 of file explog.hpp.

extractPathFromEnvVar() [1/2]

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

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

Parameters

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

Returns

The vector of paths extracted from the environment variable value.

Definition at line 38 of file file-explorer.cpp.

extractPathFromEnvVar() [2/2]

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

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

Parameters

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

Definition at line 13 of file file-explorer.cpp.

forwardDynamics() [1/3]

const PINOCCHIO_DEPRECATED DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::forwardDynamics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau, const Eigen::MatrixBase< ConstraintMatrixType > &  J, const Eigen::MatrixBase< DriftVectorType > &  gamma, const Scalar  inv_damping, const bool  updateKinematics  )

inline

Compute the forward dynamics with contact constraints.

Deprecated:

This function signature has been deprecated and will be removed in future releases of Pinocchio. Please change for the new signature of forwardDynamics(model,data[,q],v,tau,J,gamma[,inv_damping]).

Note

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

Template Parameters

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

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration (vector dim model.nq).
[in]	v	The joint velocity (vector dim model.nv).
[in]	tau	The joint torque vector (dim model.nv).
[in]	J	The Jacobian of the constraints (dim nb_constraints*model.nv).
[in]	gamma	The drift of the constraints (dim nb_constraints).
[in]	inv_damping	Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.
[in]	updateKinematics	If true, the algorithm calls first pinocchio::computeAllTerms. Otherwise, it uses the current dynamic values stored in data. \ %

Note

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

Returns

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

Definition at line 130 of file contact-dynamics.hpp.

forwardDynamics() [2/3]

const DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType& pinocchio::forwardDynamics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  tau, const Eigen::MatrixBase< ConstraintMatrixType > &  J, const Eigen::MatrixBase< DriftVectorType > &  gamma, const Scalar  inv_damping = 0.  )

inline

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

Note

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

Template Parameters

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

Parameters

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

Note

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

Returns

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

forwardDynamics() [3/3]

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

inline

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

Note

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

Template Parameters

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

Parameters

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

Note

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

Returns

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

forwardKinematics() [1/3]

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

inline

Update the joint placements according to the current joint configuration.

Template Parameters

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

Parameters

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

forwardKinematics() [2/3]

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

inline

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

Template Parameters

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

Parameters

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

forwardKinematics() [3/3]

void pinocchio::forwardKinematics ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVectorType1 > &  v, const Eigen::MatrixBase< TangentVectorType2 > &  a  )

inline

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

Template Parameters

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

Parameters

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

frameBodyRegressor()

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

inline

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

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

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

Parameters

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

Returns

The dynamic regressor of the body.

frameJacobian()

PINOCCHIO_DEPRECATED void pinocchio::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  )

inline

This function is now deprecated and has been renamed computeFrameJacobian. This signature will be removed in future release of Pinocchio.

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

Template Parameters

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

Parameters

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

Returns

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

Remarks

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

Definition at line 235 of file frames.hpp.

framesForwardKinematics() [1/2]

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

inline

Updates the position of each frame contained in the model. This function is now deprecated and has been renamed updateFramePlacements.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

[in]	model	The kinematic model.
	data	Data associated to model.

Warning

One of the algorithms forwardKinematics should have been called first.

Definition at line 76 of file frames.hpp.

framesForwardKinematics() [2/2]

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

inline

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

Template Parameters

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

Parameters

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

getAcceleration()

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

inline

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

Parameters

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

Returns

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

Warning

Second order forwardKinematics should have been called first

getCenterOfMassVelocityDerivatives()

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

inline

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

Template Parameters

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

Parameters

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

getCentroidalDynamicsDerivatives()

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

inline

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

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

Parameters

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

Returns

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

getClassicalAcceleration()

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

inline

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

Parameters

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

Returns

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

Warning

Second order forwardKinematics should have been called first

getComFromCrba()

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

inline

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

Template Parameters

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

Parameters

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

Returns

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

getCoriolisMatrix()

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

inline

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

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

after a call to the dynamics derivatives.

Note

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

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Returns

The Coriolis matrix stored in data.C.

getFrameAcceleration()

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

inline

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

Parameters

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

Returns

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

Warning

Second order forwardKinematics should have been called first

getFrameAccelerationDerivatives() [1/2]

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

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

Template Parameters

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

Parameters

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

getFrameAccelerationDerivatives() [2/2]

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

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

Template Parameters

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

Parameters

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

getFrameClassicalAcceleration()

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

inline

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

Parameters

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

Returns

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

Warning

Second order forwardKinematics should have been called first

getFrameJacobian()

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

inline

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.

Remarks

Similarly to pinocchio::getJointJacobian with LOCAL or WORLD parameters, if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinates of the frame, or if rl == WORLD, it returns the Jacobian expressed of the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.

Template Parameters

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

Parameters

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

Warning

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

getFrameJacobianTimeVariation()

void pinocchio::getFrameJacobianTimeVariation	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xLike > &	dJ
	)

Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the LOCAL frame.

Note

This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.

Template Parameters

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

Parameters

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

getFrameVelocity()

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

inline

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

Parameters

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

Returns

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

Warning

Fist or second order forwardKinematics should have been called first

getFrameVelocityDerivatives()

void pinocchio::getFrameVelocityDerivatives	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		const FrameIndex	frame_id,
		const ReferenceFrame	rf,
		const Eigen::MatrixBase< Matrix6xOut1 > &	v_partial_dq,
		const Eigen::MatrixBase< Matrix6xOut2 > &	v_partial_dv
	)

Computes the partial derivatives of the frame velocity quantity with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities.

Template Parameters

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

Parameters

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

getJacobianComFromCrba()

const DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::getJacobianComFromCrba ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data  )

inline

Extracts both the jacobian of the center of mass (CoM), the total mass of the system and the CoM position from the joint space inertia matrix (also called the mass matrix). The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both expressed in the world frame.

Template Parameters

JointCollection

Collection of Joint types.

Parameters

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

Returns

The jacobian of the CoM expressed in the world frame (matrix 3 x model.nv).

Remarks

This extraction of inertial quantities is only valid for free-floating base systems.

getJacobianSubtreeCenterOfMass()

void pinocchio::getJacobianSubtreeCenterOfMass ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, const JointIndex &  rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &  res  )

inline

Retrieves the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that pinocchio::jacobianCenterOfMass has been called first with computeSubtreeComs equals to true.

Template Parameters

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

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	rootSubtreeId	Index of the parent joint supporting the subtree.
[out]	res	The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().

getJointAccelerationDerivatives() [1/2]

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

inline

Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

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

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	Index of the joint in model.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( \dot{q} \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( \ddot{q} \).

getJointAccelerationDerivatives() [2/2]

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

inline

Computes the partial derivaties of the spatial acceleration of a given with respect to the joint configuration, velocity and acceleration. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters

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

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	Index of the joint in model.
[in]	rf	Reference frame in which the Jacobian is expressed.
[out]	v_partial_dq	Partial derivative of the joint spatial velocity w.r.t. \( q \).
[out]	v_partial_dv	Partial derivative of the joint spatial velociy w.r.t. \( \dot{q} \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( q \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( \dot{q} \).
[out]	a_partial_dq	Partial derivative of the joint spatial acceleration w.r.t. \( \ddot{q} \).

getJointJacobian()

void pinocchio::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  )

inline

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.

For the world frame W, the Jacobian \({}^0 J_{0j}$ from the joint frame \)j$ to the world frame $0$ is such that \({}^0 v_{0j} = {}^0 J_{0j} \dot{q}$, where \){}^0 v_{0j}$ is the spatial velocity of the joint frame. (When serialized to a 6D vector, the three linear coordinates are followed by the three angular coordinates).

Note

This jacobian is extracted from data.J. You have to run pinocchio::computeJointJacobians before calling it.

Template Parameters

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

Parameters

[in]	localFrame	Expressed the Jacobian in the local frame or world frame coordinates system.
[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	jointId	The id of the joint.
[out]	J	A reference to the Jacobian matrix where the results will be stored (dim 6 x model.nv). You must fill J with zero elements, e.g. J.fill(0.).

getJointJacobianTimeVariation()

void pinocchio::getJointJacobianTimeVariation ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model,