pinocchio::internal Namespace Reference

Classes
struct	CallCorrectMatrixInverseAccordingToScalar
struct	CallCorrectMatrixInverseAccordingToScalar<::casadi::Matrix< Scalar > >
struct	cast_call_normalize_method
struct	cast_call_normalize_method< SE3Tpl< CppAD::AD< Scalar >, Options >, NewScalar, CppAD::AD< Scalar > >
struct	cast_call_normalize_method< SE3Tpl< Scalar, Options >, ::casadi::Matrix< NewScalar >, Scalar >
struct	cast_call_normalize_method< SE3Tpl< Scalar, Options >, CppAD::AD< NewScalar >, Scalar >
struct	cast_call_normalize_method< SE3Tpl< Scalar, Options >, NewScalar, Scalar >
struct	cast_call_normalize_method< SE3Tpl< Scalar, Options >, Scalar, Scalar >
struct	cast_call_normalize_method< SE3Tpl<::casadi::Matrix< Scalar >, Options >, NewScalar, ::casadi::Matrix< Scalar > >
struct	comparison_eq_impl
struct	comparison_eq_impl< condition_type, condition_type >
struct	comparison_eq_impl<::casadi::Matrix< Scalar >, ::casadi::Matrix< Scalar > >
struct	getSparseCholeskySolverBase
struct	if_then_else_impl
struct	if_then_else_impl< condition_type, condition_type, ThenType, ElseType >
struct	if_then_else_impl< CppAD::AD< Scalar >, CppAD::AD< Scalar >, ThenType, ElseType >
struct	if_then_else_impl<::casadi::Matrix< Scalar >, ::casadi::Matrix< Scalar >, ThenType, ElseType >
struct	is_same_type
struct	is_same_type< T, T >
struct	isNormalizedAlgo
struct	isNormalizedAlgo< VectorLike, false >
struct	isUnitaryAlgo
struct	isUnitaryAlgo< MatrixLike, false >
struct	isZeroAlgo
struct	isZeroAlgo< MatrixLike, false >
struct	LHSScalarMultiplication
struct	LHSScalarMultiplication< MotionRef< Vector6ArgType >, Scalar >
struct	normalizeAlgo
struct	normalizeAlgo< VectorLike, false >
struct	PerformStYSInversion
	Operation called in JointModelBase<JointModel>::calc_aba.
struct	PerformStYSInversion< Scalar, false >
struct	RHSScalarMultiplication
struct	RHSScalarMultiplication< MotionRef< Vector6ArgType >, Scalar >
struct	SE3actOn
struct	SE3actOn< CppAD::AD< _Scalar > >
	Partial specialization for CppAD::AGtypes.
struct	SimplicialCholeskyWrapper
struct	SparseSolveInPlaceMethod
struct	traits
struct	traits< if_then_else_impl< LhsType, RhsType, return_type, return_type > >
	Template specialization for similar return types;.
struct	TriangularMatrixMatrixProduct
struct	TriangularMatrixMatrixProduct< info, RhsMatrix, ::casadi::Matrix< Scalar >, false >
struct	TriangularMatrixMatrixProduct< info, RhsMatrix, ::casadi::Matrix< Scalar >, true >
struct	TriangularMatrixMatrixProduct< info, RhsMatrix, Scalar, false >

Enumerations
enum	ComparisonOperators {   LT , LE , EQ , GE ,   GT }

Functions
PINOCCHIO_EXTRA_DLLAPI void	buildConvexHull (ReachableSetResults &res)
	Computes the convex hull using qhull associated with the vertex stored in res. More...
template<typename LhsType , typename RhsType >
bool	comparison_eq (const LhsType &lhs_value, const RhsType &rhs_value)
template<typename Scalar , typename ConstraintAllocator , typename VectorLikeIn , typename VectorLikeOut >
void	computeComplementarityShift (const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &cones, const Eigen::DenseBase< VectorLikeIn > &velocities, const Eigen::DenseBase< VectorLikeOut > &shift_)
template<typename Scalar , typename ConstraintAllocator , typename VectorLikeIn , typename VectorLikeOut >
void	computeConeProjection (const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &cones, const Eigen::DenseBase< VectorLikeIn > &x, const Eigen::DenseBase< VectorLikeOut > &x_proj_)
	Project a vector x on the vector of cones.
template<typename Scalar , typename ConstraintAllocator , typename VectorLikeVelocity , typename VectorLikeForce >
Scalar	computeConicComplementarity (const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &cones, const Eigen::DenseBase< VectorLikeVelocity > &velocities, const Eigen::DenseBase< VectorLikeForce > &forces)
template<typename Scalar , typename ConstraintAllocator , typename VectorLikeIn , typename VectorLikeOut >
void	computeDualConeProjection (const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &cones, const Eigen::DenseBase< VectorLikeIn > &x, const Eigen::DenseBase< VectorLikeOut > &x_proj_)
	Project a vector x on the dual of the cones contained in the vector of cones.
void	computeJointVel (const Eigen::VectorXd &res1, const Eigen::VectorXd &res2, const Eigen::VectorXi &comb, Eigen::VectorXd &qv)
	Computes the joint configuration associated with the permutation results stored in res1 and res2. More...
template<typename Scalar , typename ConstraintAllocator , typename VectorLikeIn >
Scalar	computePrimalFeasibility (const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &cones, const Eigen::DenseBase< VectorLikeIn > &forces)
template<typename Scalar , typename ConstraintAllocator , typename ForceVector , typename VelocityVector >
Scalar	computeReprojectionError (const std::vector< CoulombFrictionConeTpl< Scalar >, ConstraintAllocator > &cones, const Eigen::DenseBase< ForceVector > &forces, const Eigen::DenseBase< VelocityVector > &velocities)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , class FilterFunction >
void	computeVertex (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, FilterFunction config_filter, Eigen::MatrixXd &vertex, const ReachableSetParams &params=ReachableSetParams())
	Samples points to create the reachable workspace that will respect mechanical limits of the model as well as the time horizon. More...
void	generateCombination (const int n, const int k, Eigen::VectorXi &indices)
	Return a subsequence of length k of elements from range 0 to n. Inspired by https://docs.python.org/3/library/itertools.html#itertools.combinations. Indices table will hold the results. More...
template<typename LhsType , typename RhsType , typename ThenType , typename ElseType >
if_then_else_impl< LhsType, RhsType, ThenType, ElseType >::ReturnType	if_then_else (const ComparisonOperators op, const LhsType &lhs_value, const RhsType &rhs_value, const ThenType &then_value, const ElseType &else_value)
void	productCombination (const Eigen::VectorXd &element, const int repeat, Eigen::VectorXi &indices, Eigen::VectorXd &combination)
	Cartesian product of input element with itself. Number of repetition is specified with repeat argument. Inspired by https://docs.python.org/3/library/itertools.html#itertools.product. More...

Detailed Description

Function Documentation

buildConvexHull()

PINOCCHIO_EXTRA_DLLAPI void pinocchio::internal::buildConvexHull

(

ReachableSetResults &

res

)

Computes the convex hull using qhull associated with the vertex stored in res.

Parameters

[out]

res

Contain both the points and the faces of the convex hull

computeJointVel()

void pinocchio::internal::computeJointVel	(	const Eigen::VectorXd &	res1,
		const Eigen::VectorXd &	res2,
		const Eigen::VectorXi &	comb,
		Eigen::VectorXd &	qv
	)

Computes the joint configuration associated with the permutation results stored in res1 and res2.

Parameters

[in]	res1	First permutation result
[in]	res2	Second permutation result
[in]	comb	Vector of active joints in this configuration
[out]	qv	Joint Velocity result

computeVertex()

void pinocchio::internal::computeVertex	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const Eigen::MatrixBase< ConfigVectorType > &	q0,
		const double	time_horizon,
		const int	frame_id,
		FilterFunction	config_filter,
		Eigen::MatrixXd &	vertex,
		const ReachableSetParams &	params = ReachableSetParams()
	)

Samples points to create the reachable workspace that will respect mechanical limits of the model as well as the time horizon.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.
FilterFunction	Function template use to filter points in the workspace. Prototype : f(model, data) -> bool

Parameters

[in]	model	The model structure of the rigid body system.
[in]	geom_model	Geometry model associated with the model
[in]	q	The initial joint configuration vector (dim model.nq).
[in]	time_horizon	time horizon for which the polytope will be computed (in seconds)
[in]	frame_id	Index of the frame for which the workspace should be computed.
[in]	params	parameters of the algorithm
[out]	vertex	Results of algorithm

generateCombination()

void pinocchio::internal::generateCombination	(	const int	n,
		const int	k,
		Eigen::VectorXi &	indices
	)

Return a subsequence of length k of elements from range 0 to n. Inspired by https://docs.python.org/3/library/itertools.html#itertools.combinations. Indices table will hold the results.

Parameters

[in]	n	Max range of element
[in]	k	length of subsequences
[out]	indices	results of the combination

productCombination()

void pinocchio::internal::productCombination	(	const Eigen::VectorXd &	element,
		const int	repeat,
		Eigen::VectorXi &	indices,
		Eigen::VectorXd &	combination
	)

Cartesian product of input element with itself. Number of repetition is specified with repeat argument. Inspired by https://docs.python.org/3/library/itertools.html#itertools.product.

Parameters

[in]	element	Vector for which the cartesian product is needed.
[in]	repeat	Number of repetition
[in]	indices	Vector of indexes of which element will be repeated (will be changed during function call)
[out]	combination	Cartesian Product associated with the indices