This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file. More...

#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>

Inheritance diagram for dynamicgraph::sot::DynamicPinocchio:

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Collaboration diagram for dynamicgraph::sot::DynamicPinocchio:

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Public Types
typedef int	Dummy

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DYNAMIC_GRAPH_ENTITY_DECL ()

dg::SignalTimeDependent< dg::Matrix, int > &	createEndeffJacobianSignal (const std::string &signame, const std::string &, const bool isLocal=true)

dg::SignalTimeDependent< dg::Matrix, int > &	createJacobianSignal (const std::string &signame, const std::string &)

void	destroyJacobianSignal (const std::string &signame)

dg::SignalTimeDependent< MatrixHomogeneous, int > &	createPositionSignal (const std::string &, const std::string &)

void	destroyPositionSignal (const std::string &signame)

dg::SignalTimeDependent< dg::Vector, int > &	createVelocitySignal (const std::string &, const std::string &)

void	destroyVelocitySignal (const std::string &signame)

dg::SignalTimeDependent< dg::Vector, int > &	createAccelerationSignal (const std::string &, const std::string &)

void	destroyAccelerationSignal (const std::string &signame)

int &	computeNewtonEuler (int &dummy, const int &time)

int &	computeForwardKinematics (int &dummy, const int &time)

int &	computeCcrba (int &dummy, const int &time)

int &	computeJacobians (int &dummy, const int &time)

dg::SignalTimeDependent< dg::Matrix, int > &	jacobiansSOUT (const std::string &name)

dg::SignalTimeDependent< MatrixHomogeneous, int > &	positionsSOUT (const std::string &name)

dg::SignalTimeDependent< dg::Vector, int > &	velocitiesSOUT (const std::string &name)

dg::SignalTimeDependent< dg::Vector, int > &	accelerationsSOUT (const std::string &name)

	DynamicPinocchio (const std::string &name)

virtual	~DynamicPinocchio (void)

void	displayModel () const

void	setModel (pinocchio::Model *)

void	createData ()

void	setData (pinocchio::Data *) SOT_DYNAMIC_PINOCCHIO_DEPRECATED

pinocchio::Model *	getModel ()

pinocchio::Data *	getData ()

dg::Vector &	getLowerPositionLimits (dg::Vector &res, const int &) const
	Get joint position lower limits. More...

dg::Vector &	getUpperPositionLimits (dg::Vector &res, const int &) const
	Get joint position upper limits. More...

dg::Vector &	getUpperVelocityLimits (dg::Vector &res, const int &) const
	Get joint velocity upper limits. More...

dg::Vector &	getMaxEffortLimits (dg::Vector &res, const int &) const
	Get joint effort upper limits. More...

void	cmd_createOpPointSignals (const std::string &sig, const std::string &j)

void	cmd_createJacobianWorldSignal (const std::string &sig, const std::string &j)

void	cmd_createJacobianEndEffectorSignal (const std::string &sig, const std::string &j)

void	cmd_createJacobianEndEffectorWorldSignal (const std::string &sig, const std::string &j)

void	cmd_createPositionSignal (const std::string &sig, const std::string &j)

void	cmd_createVelocitySignal (const std::string &sig, const std::string &j)

void	cmd_createAccelerationSignal (const std::string &sig, const std::string &j)

Public Attributes
pinocchio::Model *	m_model

std::unique_ptr< pinocchio::Data >	m_data

std::list< dg::SignalBase< int > * >	genericSignalRefs

dg::SignalPtr< dg::Vector, int >	jointPositionSIN

dg::SignalPtr< dg::Vector, int >	freeFlyerPositionSIN

dg::SignalPtr< dg::Vector, int >	jointVelocitySIN

dg::SignalPtr< dg::Vector, int >	freeFlyerVelocitySIN

dg::SignalPtr< dg::Vector, int >	jointAccelerationSIN

dg::SignalPtr< dg::Vector, int >	freeFlyerAccelerationSIN

dg::SignalTimeDependent< dg::Vector, int >	pinocchioPosSINTERN

dg::SignalTimeDependent< dg::Vector, int >	pinocchioVelSINTERN

dg::SignalTimeDependent< dg::Vector, int >	pinocchioAccSINTERN

dg::SignalTimeDependent< Dummy, int >	newtonEulerSINTERN

dg::SignalTimeDependent< Dummy, int >	jacobiansSINTERN

dg::SignalTimeDependent< Dummy, int >	forwardKinematicsSINTERN

dg::SignalTimeDependent< Dummy, int >	ccrbaSINTERN

dg::SignalTimeDependent< dg::Vector, int >	zmpSOUT

dg::SignalTimeDependent< dg::Matrix, int >	JcomSOUT

dg::SignalTimeDependent< dg::Vector, int >	comSOUT

dg::SignalTimeDependent< dg::Matrix, int >	inertiaSOUT

dg::SignalTimeDependent< double, int >	footHeightSOUT

dg::SignalTimeDependent< dg::Vector, int >	upperJlSOUT

dg::SignalTimeDependent< dg::Vector, int >	lowerJlSOUT

dg::SignalTimeDependent< dg::Vector, int >	upperVlSOUT

dg::SignalTimeDependent< dg::Vector, int >	upperTlSOUT

dg::Signal< dg::Vector, int >	inertiaRotorSOUT

dg::Signal< dg::Vector, int >	gearRatioSOUT

dg::SignalTimeDependent< dg::Matrix, int >	inertiaRealSOUT

dg::SignalTimeDependent< dg::Vector, int >	MomentaSOUT

dg::SignalTimeDependent< dg::Vector, int >	AngularMomentumSOUT

dg::SignalTimeDependent< dg::Vector, int >	dynamicDriftSOUT

Protected Member Functions
dg::Matrix &	computeGenericJacobian (const bool isFrame, const int jointId, dg::Matrix &res, const int &time)

dg::Matrix &	computeGenericEndeffJacobian (const bool isFrame, const bool isLocal, const int jointId, dg::Matrix &res, const int &time)

MatrixHomogeneous &	computeGenericPosition (const bool isFrame, const int jointId, MatrixHomogeneous &res, const int &time)

dg::Vector &	computeGenericVelocity (const int jointId, dg::Vector &res, const int &time)

dg::Vector &	computeGenericAcceleration (const int jointId, dg::Vector &res, const int &time)

dg::Vector &	computeZmp (dg::Vector &res, const int &time)

dg::Vector &	computeMomenta (dg::Vector &res, const int &time)

dg::Vector &	computeAngularMomentum (dg::Vector &res, const int &time)

dg::Matrix &	computeJcom (dg::Matrix &res, const int &time)

dg::Vector &	computeCom (dg::Vector &res, const int &time)

dg::Matrix &	computeInertia (dg::Matrix &res, const int &time)

dg::Matrix &	computeInertiaReal (dg::Matrix &res, const int &time)

double &	computeFootHeight (double &res, const int &time)

dg::Vector &	computeTorqueDrift (dg::Vector &res, const int &time)

Friends
class	sot::command::SetFile

class	sot::command::CreateOpPoint

Detailed Description

This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file.

Member Typedef Documentation

◆ Dummy

typedef int dynamicgraph::sot::DynamicPinocchio::Dummy

Constructor & Destructor Documentation

◆ DynamicPinocchio()

dynamicgraph::sot::DynamicPinocchio::DynamicPinocchio ( const std::string & name )

◆ ~DynamicPinocchio()

virtual dynamicgraph::sot::DynamicPinocchio::~DynamicPinocchio ( void )

virtual

Member Function Documentation

◆ accelerationsSOUT()

dg::SignalTimeDependent<dg::Vector, int>& dynamicgraph::sot::DynamicPinocchio::accelerationsSOUT ( const std::string & name )

◆ cmd_createAccelerationSignal()

void dynamicgraph::sot::DynamicPinocchio::cmd_createAccelerationSignal	(	const std::string &	sig,
		const std::string &	j
	)

◆ cmd_createJacobianEndEffectorSignal()

void dynamicgraph::sot::DynamicPinocchio::cmd_createJacobianEndEffectorSignal	(	const std::string &	sig,
		const std::string &	j
	)

◆ cmd_createJacobianEndEffectorWorldSignal()

void dynamicgraph::sot::DynamicPinocchio::cmd_createJacobianEndEffectorWorldSignal	(	const std::string &	sig,
		const std::string &	j
	)

◆ cmd_createJacobianWorldSignal()

void dynamicgraph::sot::DynamicPinocchio::cmd_createJacobianWorldSignal	(	const std::string &	sig,
		const std::string &	j
	)

◆ cmd_createOpPointSignals()

void dynamicgraph::sot::DynamicPinocchio::cmd_createOpPointSignals	(	const std::string &	sig,
		const std::string &	j
	)

◆ cmd_createPositionSignal()

void dynamicgraph::sot::DynamicPinocchio::cmd_createPositionSignal	(	const std::string &	sig,
		const std::string &	j
	)

◆ cmd_createVelocitySignal()

void dynamicgraph::sot::DynamicPinocchio::cmd_createVelocitySignal	(	const std::string &	sig,
		const std::string &	j
	)

◆ computeAngularMomentum()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeAngularMomentum	(	dg::Vector &	res,
		const int &	time
	)

protected

◆ computeCcrba()

int& dynamicgraph::sot::DynamicPinocchio::computeCcrba	(	int &	dummy,
		const int &	time
	)

◆ computeCom()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeCom	(	dg::Vector &	res,
		const int &	time
	)

protected

◆ computeFootHeight()

double& dynamicgraph::sot::DynamicPinocchio::computeFootHeight	(	double &	res,
		const int &	time
	)

protected

◆ computeForwardKinematics()

int& dynamicgraph::sot::DynamicPinocchio::computeForwardKinematics	(	int &	dummy,
		const int &	time
	)

◆ computeGenericAcceleration()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeGenericAcceleration	(	const int	jointId,
		dg::Vector &	res,
		const int &	time
	)

protected

◆ computeGenericEndeffJacobian()

dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeGenericEndeffJacobian	(	const bool	isFrame,
		const bool	isLocal,
		const int	jointId,
		dg::Matrix &	res,
		const int &	time
	)

protected

◆ computeGenericJacobian()

dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeGenericJacobian	(	const bool	isFrame,
		const int	jointId,
		dg::Matrix &	res,
		const int &	time
	)

protected

◆ computeGenericPosition()

MatrixHomogeneous& dynamicgraph::sot::DynamicPinocchio::computeGenericPosition	(	const bool	isFrame,
		const int	jointId,
		MatrixHomogeneous &	res,
		const int &	time
	)

protected

◆ computeGenericVelocity()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeGenericVelocity	(	const int	jointId,
		dg::Vector &	res,
		const int &	time
	)

protected

◆ computeInertia()

dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeInertia	(	dg::Matrix &	res,
		const int &	time
	)

protected

◆ computeInertiaReal()

dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeInertiaReal	(	dg::Matrix &	res,
		const int &	time
	)

protected

◆ computeJacobians()

int& dynamicgraph::sot::DynamicPinocchio::computeJacobians	(	int &	dummy,
		const int &	time
	)

◆ computeJcom()

dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeJcom	(	dg::Matrix &	res,
		const int &	time
	)

protected

◆ computeMomenta()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeMomenta	(	dg::Vector &	res,
		const int &	time
	)

protected

◆ computeNewtonEuler()

int& dynamicgraph::sot::DynamicPinocchio::computeNewtonEuler	(	int &	dummy,
		const int &	time
	)

◆ computeTorqueDrift()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeTorqueDrift	(	dg::Vector &	res,
		const int &	time
	)

protected

◆ computeZmp()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeZmp	(	dg::Vector &	res,
		const int &	time
	)

protected

◆ createAccelerationSignal()

dg::SignalTimeDependent<dg::Vector, int>& dynamicgraph::sot::DynamicPinocchio::createAccelerationSignal	(	const std::string &	,
		const std::string &
	)

◆ createData()

void dynamicgraph::sot::DynamicPinocchio::createData ( )

◆ createEndeffJacobianSignal()

dg::SignalTimeDependent<dg::Matrix, int>& dynamicgraph::sot::DynamicPinocchio::createEndeffJacobianSignal	(	const std::string &	signame,
		const std::string &	,
		const bool	isLocal = `true`
	)

◆ createJacobianSignal()

dg::SignalTimeDependent<dg::Matrix, int>& dynamicgraph::sot::DynamicPinocchio::createJacobianSignal	(	const std::string &	signame,
		const std::string &
	)

◆ createPositionSignal()

dg::SignalTimeDependent<MatrixHomogeneous, int>& dynamicgraph::sot::DynamicPinocchio::createPositionSignal	(	const std::string &	,
		const std::string &
	)

◆ createVelocitySignal()

dg::SignalTimeDependent<dg::Vector, int>& dynamicgraph::sot::DynamicPinocchio::createVelocitySignal	(	const std::string &	,
		const std::string &
	)

◆ destroyAccelerationSignal()

void dynamicgraph::sot::DynamicPinocchio::destroyAccelerationSignal ( const std::string & signame )

◆ destroyJacobianSignal()

void dynamicgraph::sot::DynamicPinocchio::destroyJacobianSignal ( const std::string & signame )

◆ destroyPositionSignal()

void dynamicgraph::sot::DynamicPinocchio::destroyPositionSignal ( const std::string & signame )

◆ destroyVelocitySignal()

void dynamicgraph::sot::DynamicPinocchio::destroyVelocitySignal ( const std::string & signame )

◆ displayModel()

void dynamicgraph::sot::DynamicPinocchio::displayModel ( ) const

inline

◆ DYNAMIC_GRAPH_ENTITY_DECL()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::DynamicPinocchio::DYNAMIC_GRAPH_ENTITY_DECL ( )

◆ getData()

pinocchio::Data* dynamicgraph::sot::DynamicPinocchio::getData ( )

inline

◆ getLowerPositionLimits()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::getLowerPositionLimits	(	dg::Vector &	res,
		const int &
	)		const

Get joint position lower limits.

Parameters

[out] result vector

Returns: result vector

◆ getMaxEffortLimits()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::getMaxEffortLimits	(	dg::Vector &	res,
		const int &
	)		const

Get joint effort upper limits.

Parameters

[out] result vector

Returns: result vector

◆ getModel()

pinocchio::Model* dynamicgraph::sot::DynamicPinocchio::getModel ( )

inline

◆ getUpperPositionLimits()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::getUpperPositionLimits	(	dg::Vector &	res,
		const int &
	)		const

Get joint position upper limits.

Parameters

[out] result vector

Returns: result vector

◆ getUpperVelocityLimits()

dg::Vector& dynamicgraph::sot::DynamicPinocchio::getUpperVelocityLimits	(	dg::Vector &	res,
		const int &
	)		const

Get joint velocity upper limits.

Parameters

[out] result vector

Returns: result vector

◆ jacobiansSOUT()

dg::SignalTimeDependent<dg::Matrix, int>& dynamicgraph::sot::DynamicPinocchio::jacobiansSOUT ( const std::string & name )

◆ positionsSOUT()

dg::SignalTimeDependent<MatrixHomogeneous, int>& dynamicgraph::sot::DynamicPinocchio::positionsSOUT ( const std::string & name )

◆ setData()

void dynamicgraph::sot::DynamicPinocchio::setData ( pinocchio::Data * )

Deprecated:: this function does nothing. This class has its own pinocchio::Data object, which can be access with getData.

◆ setModel()

void dynamicgraph::sot::DynamicPinocchio::setModel ( pinocchio::Model * )

◆ velocitiesSOUT()

dg::SignalTimeDependent<dg::Vector, int>& dynamicgraph::sot::DynamicPinocchio::velocitiesSOUT ( const std::string & name )

Friends And Related Function Documentation

◆ sot::command::CreateOpPoint

friend class sot::command::CreateOpPoint

friend

◆ sot::command::SetFile

friend class sot::command::SetFile

friend

Member Data Documentation

◆ AngularMomentumSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::AngularMomentumSOUT

◆ ccrbaSINTERN

dg::SignalTimeDependent<Dummy, int> dynamicgraph::sot::DynamicPinocchio::ccrbaSINTERN

◆ comSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::comSOUT

◆ dynamicDriftSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::dynamicDriftSOUT

◆ footHeightSOUT

dg::SignalTimeDependent<double, int> dynamicgraph::sot::DynamicPinocchio::footHeightSOUT

◆ forwardKinematicsSINTERN

dg::SignalTimeDependent<Dummy, int> dynamicgraph::sot::DynamicPinocchio::forwardKinematicsSINTERN

◆ freeFlyerAccelerationSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::freeFlyerAccelerationSIN

◆ freeFlyerPositionSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::freeFlyerPositionSIN

◆ freeFlyerVelocitySIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::freeFlyerVelocitySIN

◆ gearRatioSOUT

dg::Signal<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::gearRatioSOUT

◆ genericSignalRefs

std::list<dg::SignalBase<int>*> dynamicgraph::sot::DynamicPinocchio::genericSignalRefs

◆ inertiaRealSOUT

dg::SignalTimeDependent<dg::Matrix, int> dynamicgraph::sot::DynamicPinocchio::inertiaRealSOUT

◆ inertiaRotorSOUT

dg::Signal<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::inertiaRotorSOUT

◆ inertiaSOUT

dg::SignalTimeDependent<dg::Matrix, int> dynamicgraph::sot::DynamicPinocchio::inertiaSOUT

◆ jacobiansSINTERN

dg::SignalTimeDependent<Dummy, int> dynamicgraph::sot::DynamicPinocchio::jacobiansSINTERN

◆ JcomSOUT

dg::SignalTimeDependent<dg::Matrix, int> dynamicgraph::sot::DynamicPinocchio::JcomSOUT

◆ jointAccelerationSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::jointAccelerationSIN

◆ jointPositionSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::jointPositionSIN

◆ jointVelocitySIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::jointVelocitySIN

◆ lowerJlSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::lowerJlSOUT

◆ m_data

std::unique_ptr<pinocchio::Data> dynamicgraph::sot::DynamicPinocchio::m_data

◆ m_model

pinocchio::Model* dynamicgraph::sot::DynamicPinocchio::m_model

◆ MomentaSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::MomentaSOUT

◆ newtonEulerSINTERN

dg::SignalTimeDependent<Dummy, int> dynamicgraph::sot::DynamicPinocchio::newtonEulerSINTERN

◆ pinocchioAccSINTERN

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::pinocchioAccSINTERN

◆ pinocchioPosSINTERN

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::pinocchioPosSINTERN

◆ pinocchioVelSINTERN

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::pinocchioVelSINTERN

◆ upperJlSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::upperJlSOUT

◆ upperTlSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::upperTlSOUT

◆ upperVlSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::upperVlSOUT

◆ zmpSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::DynamicPinocchio::zmpSOUT

The documentation for this class was generated from the following file:

include/sot/dynamic-pinocchio/dynamic-pinocchio.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ Dummy

Constructor & Destructor Documentation

◆ DynamicPinocchio()

◆ ~DynamicPinocchio()

Member Function Documentation

◆ accelerationsSOUT()

◆ cmd_createAccelerationSignal()

◆ cmd_createJacobianEndEffectorSignal()

◆ cmd_createJacobianEndEffectorWorldSignal()

◆ cmd_createJacobianWorldSignal()

◆ cmd_createOpPointSignals()

◆ cmd_createPositionSignal()

◆ cmd_createVelocitySignal()

◆ computeAngularMomentum()

◆ computeCcrba()

◆ computeCom()

◆ computeFootHeight()

◆ computeForwardKinematics()

◆ computeGenericAcceleration()

◆ computeGenericEndeffJacobian()

◆ computeGenericJacobian()

◆ computeGenericPosition()

◆ computeGenericVelocity()

◆ computeInertia()

◆ computeInertiaReal()

◆ computeJacobians()

◆ computeJcom()

◆ computeMomenta()

◆ computeNewtonEuler()

◆ computeTorqueDrift()

◆ computeZmp()

◆ createAccelerationSignal()

◆ createData()

◆ createEndeffJacobianSignal()

◆ createJacobianSignal()

◆ createPositionSignal()

◆ createVelocitySignal()

◆ destroyAccelerationSignal()

◆ destroyJacobianSignal()

◆ destroyPositionSignal()

◆ destroyVelocitySignal()

◆ displayModel()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ getData()

◆ getLowerPositionLimits()

◆ getMaxEffortLimits()

◆ getModel()

◆ getUpperPositionLimits()

◆ getUpperVelocityLimits()

◆ jacobiansSOUT()

◆ positionsSOUT()

◆ setData()

◆ setModel()

◆ velocitiesSOUT()

Friends And Related Function Documentation

◆ sot::command::CreateOpPoint

◆ sot::command::SetFile

Member Data Documentation

◆ AngularMomentumSOUT

◆ ccrbaSINTERN

◆ comSOUT

◆ dynamicDriftSOUT

◆ footHeightSOUT

◆ forwardKinematicsSINTERN

◆ freeFlyerAccelerationSIN

◆ freeFlyerPositionSIN

◆ freeFlyerVelocitySIN

◆ gearRatioSOUT

◆ genericSignalRefs

◆ inertiaRealSOUT

◆ inertiaRotorSOUT

◆ inertiaSOUT

◆ jacobiansSINTERN