frames.hpp

//
// Copyright (c) 2015-2018 CNRS
//

#ifndef __pinocchio_frames_hpp__
#define __pinocchio_frames_hpp__

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

namespace pinocchio
{

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline void updateFramePlacements(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                    DataTpl<Scalar,Options,JointCollectionTpl> & data);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline const typename 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);


  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline void framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                      DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                      const Eigen::MatrixBase<ConfigVectorType> & q);


  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline 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);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename MotionLike>
  PINOCCHIO_DEPRECATED
  inline 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)
  {
    frame_v.derived() = getFrameVelocity(model, data, frame_id);
  }

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline 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);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename MotionLike>
  PINOCCHIO_DEPRECATED
  inline 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)
  { frame_a.derived() = getFrameAcceleration(model, data, frame_id); }

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xLike>
  inline 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);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like>
  inline 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);

  template<ReferenceFrame rf>
  PINOCCHIO_DEPRECATED
  void getFrameJacobian(const Model & model,
                        const Data & data,
                        const Model::FrameIndex frame_id,
                        Data::Matrix6x & J)
  { getFrameJacobian(model,data,frame_id,rf,J); }
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xLike>
  PINOCCHIO_DEPRECATED
  inline 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);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xLike>
  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);

  template<ReferenceFrame rf>
  PINOCCHIO_DEPRECATED
  void getFrameJacobianTimeVariation(const Model & model,
                                     const Data & data,
                                     const Model::FrameIndex frameId,
                                     Data::Matrix6x & dJ)
  {
    getFrameJacobianTimeVariation(model,data,frameId,rf,dJ);
  }

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/frames.hxx"

#endif // ifndef __pinocchio_frames_hpp__