jacobian.hpp

//
// Copyright (c) 2015-2018 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.

#ifndef __se3_jacobian_hpp__
#define __se3_jacobian_hpp__

#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"

namespace se3
{
  inline const Data::Matrix6x &
  computeJointJacobians(const Model & model,
                        Data & data,
                        const Eigen::VectorXd & q);
  
  PINOCCHIO_DEPRECATED
  inline const Data::Matrix6x &
  computeJacobians(const Model & model,
                   Data & data,
                   const Eigen::VectorXd & q)
  { return computeJointJacobians(model,data,q); }
  
  inline const Data::Matrix6x &
  computeJointJacobians(const Model & model,
                        Data & data);
  
  PINOCCHIO_DEPRECATED
  inline const Data::Matrix6x &
  computeJacobians(const Model & model,
                   Data & data)
  { return computeJointJacobians(model,data); }
  
  template<ReferenceFrame rf>
  void getJointJacobian(const Model & model,
                        const Data & data,
                        const Model::JointIndex jointId,
                        Data::Matrix6x & J);
  
  template<ReferenceFrame rf>
  PINOCCHIO_DEPRECATED
  void getJacobian(const Model & model,
                   const Data & data,
                   const Model::JointIndex jointId,
                   Data::Matrix6x & J)
  { getJointJacobian<rf>(model,data,jointId,J); }
  
  inline void jointJacobian(const Model & model,
                            Data & data,
                            const Eigen::VectorXd & q,
                            const Model::JointIndex jointId,
                            Data::Matrix6x & J);
  
  PINOCCHIO_DEPRECATED
  inline void jacobian(const Model & model,
                       Data & data,
                       const Eigen::VectorXd & q,
                       const Model::JointIndex jointId,
                       Data::Matrix6x & J)
  { jointJacobian(model,data,q,jointId,J); }
  
  PINOCCHIO_DEPRECATED
  inline const Data::Matrix6x &
  jointJacobian(const Model & model,
                Data & data,
                const Eigen::VectorXd & q,
                const Model::JointIndex jointId)
  {
    data.J.setZero();
    jointJacobian(model,data,q,jointId,data.J);
    
    return data.J;
  }
  
  inline const Data::Matrix6x &
  computeJointJacobiansTimeVariation(const Model & model,
                                     Data & data,
                                     const Eigen::VectorXd & q,
                                     const Eigen::VectorXd & v);
  
  PINOCCHIO_DEPRECATED
  inline const Data::Matrix6x &
  computeJacobiansTimeVariation(const Model & model,
                                Data & data,
                                const Eigen::VectorXd & q,
                                const Eigen::VectorXd & v)
  { return computeJointJacobiansTimeVariation(model,data,q,v); }
  
  template<ReferenceFrame rf>
  void getJointJacobianTimeVariation(const Model & model,
                                     const Data & data,
                                     const Model::JointIndex jointId,
                                     Data::Matrix6x & dJ);
  
  template<ReferenceFrame rf>
  PINOCCHIO_DEPRECATED
  void getJacobianTimeVariation(const Model & model,
                                const Data & data,
                                const Model::JointIndex jointId,
                                Data::Matrix6x & dJ)
  { getJointJacobianTimeVariation<rf>(model,data,jointId,dJ); }
  
} // namespace se3 

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/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */

#include "pinocchio/algorithm/jacobian.hxx"

#endif // ifndef __se3_jacobian_hpp__