Namespaces | Classes | Enumerations | Functions
pinocchio Namespace Reference

Namespaces

 buildModels
 
 cholesky
 
 container
 
 forceSet
 
 ForceSetTpl
 
 fusion
 
 helper
 
 lua
 
 motionSet
 
 quaternion
 
 regressor
 
 serialization
 
 SizeDepType
 
 srdf
 
 Symmetric3Tpl
 
 urdf
 

Classes

struct  ABAChecker
 
struct  AlgorithmCheckerBase
 
struct  AlgorithmCheckerList
 
struct  BiasZeroTpl
 
struct  CartesianAxis
 
struct  CartesianProductOperation
 
struct  CartesianProductOperationVariant
 
struct  CastType
 
struct  CastType< NewScalar, JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
 
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  CodeGenMinv
 
struct  CodeGenRNEA
 
struct  CodeGenRNEADerivatives
 
struct  CollisionPair
 
class  ConstraintBase
 
struct  ConstraintIdentityTpl
 
struct  ConstraintPlanarTpl
 
struct  ConstraintPrismatic
 
struct  ConstraintPrismaticUnaligned
 
struct  ConstraintRevoluteTpl
 
struct  ConstraintRevoluteUnalignedTpl
 
struct  ConstraintSphericalTpl
 
struct  ConstraintSphericalZYXTpl
 
class  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  Exception
 
class  ForceBase
 
class  ForceDense
 
class  ForceRef
 
class  ForceRef< const Vector6ArgType >
 
class  ForceSetTpl
 
class  ForceTpl
 
struct  FrameTpl
 
struct  GeometryData
 
struct  GeometryModel
 
struct  GeometryObject
 
class  InertiaBase
 
class  InertiaTpl
 
struct  JointCollectionDefaultTpl
 
struct  JointCompositeTpl
 
struct  JointDataBase
 
struct  JointDataCompositeTpl
 
struct  JointDataFreeFlyerTpl
 
struct  JointDataPlanarTpl
 
struct  JointDataPrismaticTpl
 
struct  JointDataPrismaticUnalignedTpl
 
struct  JointDataRevoluteTpl
 
struct  JointDataRevoluteUnalignedTpl
 
struct  JointDataRevoluteUnboundedTpl
 
struct  JointDataSphericalTpl
 
struct  JointDataSphericalZYXTpl
 
struct  JointDataTpl
 
struct  JointDataTranslationTpl
 
struct  JointDataVoid
 
struct  JointFreeFlyerTpl
 
struct  JointModelBase
 
struct  JointModelCompositeTpl
 
struct  JointModelFreeFlyerTpl
 
struct  JointModelPlanarTpl
 
struct  JointModelPrismaticTpl
 
struct  JointModelPrismaticUnalignedTpl
 
struct  JointModelRevoluteTpl
 
struct  JointModelRevoluteUnalignedTpl
 
struct  JointModelRevoluteUnboundedTpl
 
struct  JointModelSphericalTpl
 
struct  JointModelSphericalZYXTpl
 
struct  JointModelTpl
 
struct  JointModelTranslationTpl
 
struct  JointModelVoid
 
struct  JointPlanarTpl
 
struct  JointPrismaticTpl
 
struct  JointPrismaticUnalignedTpl
 
struct  JointRevoluteTpl
 
struct  JointRevoluteUnalignedTpl
 
struct  JointRevoluteUnboundedTpl
 
struct  JointSphericalTpl
 
struct  JointSphericalZYXTpl
 
struct  JointTpl
 
struct  JointTranslationTpl
 
struct  LieGroup
 
struct  LieGroupBase
 
struct  LieGroupCollectionDefaultTpl
 
struct  LieGroupGenericTpl
 
struct  LieGroupMap
 
struct  ModelTpl
 
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  ParentChecker
 
struct  SE3Base
 
struct  SE3Tpl
 
struct  Serialize
 
struct  Serialize< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
 
struct  SINCOSAlgo
 
struct  SINCOSAlgo< CppAD::AD< Scalar > >
 
struct  SINCOSAlgo< double >
 
struct  SINCOSAlgo< float >
 
struct  SINCOSAlgo< long double >
 
struct  SizeDepType
 
struct  SizeDepType< Eigen::Dynamic >
 
struct  SpatialAxis
 
struct  SpecialEuclideanOperationTpl
 
struct  SpecialEuclideanOperationTpl< 2, _Scalar, _Options >
 
struct  SpecialEuclideanOperationTpl< 3, _Scalar, _Options >
 
struct  SpecialOrthogonalOperationTpl
 
struct  SpecialOrthogonalOperationTpl< 2, _Scalar, _Options >
 
struct  SpecialOrthogonalOperationTpl< 3, _Scalar, _Options >
 
class  Symmetric3Tpl
 
struct  TaylorSeriesExpansion
 
struct  TaylorSeriesExpansion< CppAD::AD< Scalar > >
 
struct  traits
 
struct  traits< BiasZeroTpl< _Scalar, _Options > >
 
struct  traits< CartesianProductOperation< LieGroup1, LieGroup2 > >
 
struct  traits< CartesianProductOperationVariant >
 
struct  traits< ConstraintIdentityTpl< _Scalar, _Options > >
 
struct  traits< ConstraintPlanarTpl< _Scalar, _Options > >
 
struct  traits< ConstraintPrismatic< _Scalar, _Options, axis > >
 
struct  traits< ConstraintPrismaticUnaligned< _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< Vector6ArgType > >
 
struct  traits< ForceTpl< _Scalar, _Options > >
 
struct  traits< hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot > >
 
struct  traits< InertiaTpl< T, U > >
 
struct  traits< JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
 
struct  traits< JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > >
 
struct  traits< JointDataFreeFlyerTpl< Scalar, Options > >
 
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< 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< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
 
struct  traits< JointModelFreeFlyerTpl< Scalar, Options > >
 
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< 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< 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< 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< 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  VectorSpaceOperationTpl
 

Enumerations

enum  ArgumentPosition
 
enum  FrameType
 
enum  ModelFileExtensionType
 

Functions

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 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)
 
void addSkew (const Eigen::MatrixBase< Vector3Like > &v, const Eigen::MatrixBase< Matrix3Like > &M)
 
void alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
 
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3::Options > alphaSkew (const Scalar alpha, const Eigen::MatrixBase< Vector3 > &v)
 
D1::Scalar PINOCCHIO_DEPRECATED angleBetweenQuaternions (const Eigen::QuaternionBase< D1 > &q1, const Eigen::QuaternionBase< D2 > &q2)
 
void appendGeometryModel (GeometryModel &geomModel1, const GeometryModel &geomModel2)
 
void appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
 
void appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const GeometryModel &geomModelA, const GeometryModel &geomModelB, FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel)
 
char axisLabel ()
 
MotionTpl< Scalar, Options > bias (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
 
void calc_aba (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
 
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)
 
void calc_zero_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
 
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type cast_joint (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
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)
 
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)
 
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)
 
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)
 
void centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const int LEVEL, const bool computeSubtreeComs=true)
 
void centerOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
 
bool checkData (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
ModelFileExtensionType checkModelFileExtension (const std::string &filename)
 
bool checkVersionAtLeast (unsigned int major_version, unsigned int minor_version, unsigned int patch_version)
 
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)
 
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)
 
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)
 
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)
 
void computeAllTerms (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 
void computeBodyRadius (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geomModel, GeometryData &geomData)
 
const 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)
 
const 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)
 
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)
 
bool computeCollision (const GeometryModel &geomModel, GeometryData &geomData, const PairIndex &pairId)
 
bool computeCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geomModel, GeometryData &geomData, const Eigen::MatrixBase< ConfigVectorType > &q, const bool stopAtFirstCollision=false)
 
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)
 
fcl::DistanceResult & computeDistance (const GeometryModel &geomModel, GeometryData &geomData, const PairIndex &pairId)
 
PINOCCHIO_DEPRECATED std::size_t computeDistances (const Model &model, Data &data, const GeometryModel &geomModel, GeometryData &geomData, const Eigen::VectorXd &q)
 
std::size_t computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geomModel, GeometryData &geomData, const Eigen::MatrixBase< ConfigVectorType > &q)
 
std::size_t computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geomModel, GeometryData &geomData)
 
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)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & computeGeneralizedGravity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 
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)
 
PINOCCHIO_DEPRECATED const Data::Matrix6x & computeJacobians (const Model &model, Data &data, const Eigen::VectorXd &q)
 
PINOCCHIO_DEPRECATED const Data::Matrix6x & computeJacobians (const Model &model, Data &data)
 
PINOCCHIO_DEPRECATED const Data::Matrix6x & computeJacobiansTimeVariation (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeJointJacobians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
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)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & computeMinverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 
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)
 
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)
 
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)
 
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)
 
void computeSubtreeMasses (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
Scalar computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
 
Scalar computeTotalMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
ConstraintTpl< Eigen::Dynamic, Scalar, Options > constraint_xd (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
 
void copy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &origin, DataTpl< Scalar, Options, JointCollectionTpl > &dest, int LEVEL)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crbaMinimal (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 
JointDataTpl< Scalar, Options, JointCollectionTpl > createData (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
void cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3xIn > &Min, const Eigen::MatrixBase< Matrix3xOut > &Mout)
 
Matrix3x cross (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3x > &M)
 
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)
 
bool PINOCCHIO_DEPRECATED defineSameRotation (const Eigen::QuaternionBase< D1 > &q1, const Eigen::QuaternionBase< D2 > &q2, const typename D1::RealScalar &prec=Eigen::NumTraits< typename D1::Scalar >::dummy_precision())
 
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > dinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
 
void emptyForwardPass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, Vector3Like::Options > exp3 (const Eigen::MatrixBase< Vector3Like > &v)
 
SE3Tpl< typename MotionDerived::Scalar, typename MotionDerived::Vector3::Options > exp6 (const MotionDense< MotionDerived > &nu)
 
SE3Tpl< typename Vector6Like::Scalar, Vector6Like::Options > exp6 (const Eigen::MatrixBase< Vector6Like > &v)
 
std::vector< std::string > extractPathFromEnvVar (const std::string &env_var_name, const std::string &delimiter=":")
 
ModelTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType finiteDifferenceIncrement (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
 
Scalar finiteDifferenceIncrement (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
void PINOCCHIO_DEPRECATED firstOrderNormalize (const Eigen::QuaternionBase< D > &q)
 
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., const bool updateKinematics=true)
 
void forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 
void forwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 
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)
 
void frameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6Like > &J)
 
void framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 
void getCenterOfMassVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)
 
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)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::Vector3 & getComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
MotionTpl< Scalar, Options > getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id)
 
PINOCCHIO_DEPRECATED void getFrameAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const MotionDense< MotionLike > &frame_a)
 
void getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &J)
 
PINOCCHIO_DEPRECATED void getFrameJacobian (const Model &model, const Data &data, const Model::FrameIndex frame_id, Data::Matrix6x &J)
 
PINOCCHIO_DEPRECATED void getFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const Eigen::MatrixBase< Matrix6xLike > &J)
 
void getFrameJacobianTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &dJ)
 
PINOCCHIO_DEPRECATED void getFrameJacobianTimeVariation (const Model &model, const Data &data, const Model::FrameIndex frameId, Data::Matrix6x &dJ)
 
MotionTpl< Scalar, Options > getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id)
 
PINOCCHIO_DEPRECATED void getFrameVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const MotionDense< MotionLike > &frame_v)
 
PINOCCHIO_DEPRECATED void getJacobian (const Model &model, const Data &data, const Model::JointIndex jointId, Data::Matrix6x &J)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x & getJacobianComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
PINOCCHIO_DEPRECATED void getJacobianTimeVariation (const Model &model, const Data &data, const Model::JointIndex jointId, Data::Matrix6x &dJ)
 
void getJointAccelerationDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, 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)
 
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)
 
PINOCCHIO_DEPRECATED void getJointJacobian (const Model &model, const Data &data, const Model::JointIndex jointId, Data::Matrix6x &J)
 
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)
 
PINOCCHIO_DEPRECATED void getJointJacobianTimeVariation (const Model &model, const Data &data, const Model::JointIndex jointId, Data::Matrix6x &dJ)
 
void getJointVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, 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)
 
void getKKTContactDynamicMatrixInverse (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< KKTMatrixType > &MJtJ_inv)
 
JointIndex id (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
int idx_q (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
int idx_v (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
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 bool updateKinematics=true)
 
void integrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
 
PINOCCHIO_DEPRECATED void jacobian (const Model &model, Data &data, const Eigen::VectorXd &q, const Model::JointIndex jointId, Data::Matrix6x &J)
 
PINOCCHIO_DEPRECATED 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, const bool updateKinematics)
 
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)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x & jacobianCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const bool computeSubtreeComs=true)
 
void Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
 
void Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
 
void Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog)
 
SE3Tpl< Scalar, Options > joint_transform (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
 
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)
 
PINOCCHIO_DEPRECATED const Data::Matrix6x & jointJacobian (const Model &model, Data &data, const Eigen::VectorXd &q, const Model::JointIndex jointId)
 
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=true)
 
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like::Options > log3 (const Eigen::MatrixBase< Matrix3Like > &R, typename Matrix3Like::Scalar &theta)
 
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, Matrix3Like::Options > log3 (const Eigen::MatrixBase< Matrix3Like > &R)
 
MotionTpl< Scalar, Options > log6 (const SE3Tpl< Scalar, Options > &M)
 
MotionTpl< typename Matrix4Like::Scalar, Eigen::internal::traits< Matrix4Like >::Options > log6 (const Eigen::MatrixBase< Matrix4Like > &M)
 
AlgorithmCheckerList< ParentChecker, CRBAChecker, ABAChecker > makeDefaultCheckerList ()
 
MotionTpl< Scalar, Options > motion (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
 
std::string name (const LieGroupGenericTpl< LieGroupCollection > &lg)
 
Eigen::Matrix< typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options > neutral (const LieGroupGenericTpl< LieGroupCollection > &lg)
 
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)
 
int nq (const LieGroupGenericTpl< LieGroupCollection > &lg)
 
int nq (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
int nv (const LieGroupGenericTpl< LieGroupCollection > &lg)
 
int nv (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
traits< F1 >::ForcePlain operator* (const typename traits< F1 >::Scalar alpha, const ForceDense< F1 > &f)
 
traits< M1 >::MotionPlain operator^ (const MotionDense< M1 > &v1, const MotionDense< M2 > &v2)
 
const Scalar PI ()
 
Scalar potentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool update_kinematics=true)
 
std::string printVersion (const std::string &delimiter=".")
 
std::string randomStringGenerator (const int len)
 
std::string retrieveResourcePath (const std::string &string, const std::vector< std::string > &package_dirs)
 
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 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)
 
std::vector< std::string > rosPaths ()
 
void setIndexes (JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
 
std::string shortname (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
 
void SINCOS (const Scalar &a, Scalar *sa, Scalar *ca)
 
void skew (const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3 > &M)
 
Eigen::Matrix< typename D::Scalar, 3, 3, D::Options > skew (const Eigen::MatrixBase< D > &v)
 
void skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v, const Eigen::MatrixBase< Matrix3 > &C)
 
Eigen::Matrix< typename V1::Scalar, 3, 3, V1::Options > skewSquare (const Eigen::MatrixBase< V1 > &u, const Eigen::MatrixBase< V2 > &v)
 
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > u_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
 
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > udinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
 
void PINOCCHIO_DEPRECATED uniformRandom (const Eigen::QuaternionBase< D > &q)
 
void unSkew (const Eigen::MatrixBase< Matrix3 > &M, const Eigen::MatrixBase< Vector3 > &v)
 
Eigen::Matrix< typename Matrix3::Scalar, 3, 1, Matrix3::Options > unSkew (const Eigen::MatrixBase< Matrix3 > &M)
 
const DataTpl< Scalar, Options, JointCollectionTpl >::SE3 & updateFramePlacement (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id)
 
void updateFramePlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
void updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geomModel, GeometryData &geomData, const Eigen::MatrixBase< ConfigVectorType > &q)
 
void updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geomModel, GeometryData &geomData)
 
void updateGlobalPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 
void integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
 
void interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u, const Eigen::MatrixBase< ReturnType > &qout)
 
void difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout)
 
void squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out)
 
void randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
 
void neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
 
void 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)
 
Scalar squaredDistanceSum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
 
Scalar distance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
 
void normalize (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout)
 
bool isSameConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec)
 
void integrateCoeffWiseJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< JacobianMatrix > &jacobian)
 
ConfigVectorType integrate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
 
ConfigVectorIn1 interpolate (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u)
 
ConfigVectorIn1 difference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
 
ConfigVectorIn1 squaredDistance (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
 
ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits)
 
ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType randomConfiguration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
 
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > neutral (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)