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| enum | { Options = _Options
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typedef VectorXs | ConfigVectorType |
| | Dense vectorized version of a joint configuration vector.
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typedef ForceTpl< Scalar, Options > | Force |
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typedef FrameTpl< Scalar, Options > | Frame |
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typedef pinocchio::FrameIndex | FrameIndex |
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typedef pinocchio::GeomIndex | GeomIndex |
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typedef pinocchio::Index | Index |
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typedef std::vector< Index > | IndexVector |
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typedef InertiaTpl< Scalar, Options > | Inertia |
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typedef JointCollectionTpl< Scalar, Options > | JointCollection |
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typedef JointDataTpl< Scalar, Options, JointCollectionTpl > | JointData |
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typedef container::aligned_vector< JointData > | JointDataVector |
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typedef pinocchio::JointIndex | JointIndex |
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typedef JointModelTpl< Scalar, Options, JointCollectionTpl > | JointModel |
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typedef container::aligned_vector< JointModel > | JointModelVector |
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typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > | Matrix3x |
| | The 3d jacobian type (temporary)
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typedef Eigen::Matrix< Scalar, 6, 6, Options > | Matrix6 |
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typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > | Matrix6x |
| | The 6d jacobian type (temporary)
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typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > | MatrixXs |
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typedef ModelTpl< Scalar, Options, JointCollectionTpl > | Model |
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typedef MotionTpl< Scalar, Options > | Motion |
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typedef Eigen::Matrix< Scalar, 6, 6, Eigen::RowMajor|Options > | RowMatrix6 |
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typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options > | RowMatrixXs |
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typedef _Scalar | Scalar |
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typedef SE3Tpl< Scalar, Options > | SE3 |
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typedef VectorXs | TangentVectorType |
| | Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).
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typedef Eigen::Matrix< Scalar, 3, 1, Options > | Vector3 |
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typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > | VectorXs |
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container::aligned_vector< Motion > | a |
| | Vector of joint accelerations expressed at the centers of the joints frames.
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container::aligned_vector< Motion > | a_gf |
| | Vector of joint accelerations due to the gravity field.
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container::aligned_vector< Vector3 > | acom |
| | Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.
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| Matrix6x | Ag |
| | Centroidal Momentum Matrix. More...
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MatrixXs | C |
| | The Coriolis matrix (a square matrix of dim model.nv).
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container::aligned_vector< Vector3 > | com |
| | Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.
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VectorXs | D |
| | Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition.
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Matrix6x | dAdq |
| | Variation of the spatial acceleration set with respect to the joint configuration.
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Matrix6x | dAdv |
| | Variation of the spatial acceleration set with respect to the joint velocity.
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| Matrix6x | dAg |
| | Centroidal Momentum Matrix Time Variation. More...
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TangentVectorType | ddq |
| | The joint accelerations computed from ABA.
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MatrixXs | ddq_dq |
| | Partial derivative of the joint acceleration vector with respect to the joint configuration.
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MatrixXs | ddq_dv |
| | Partial derivative of the joint acceleration vector with respect to the joint velocity.
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Matrix6x | dFda |
| | Variation of the forceset with respect to the joint acceleration.
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Matrix6x | dFdq |
| | Variation of the forceset with respect to the joint configuration.
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Matrix6x | dFdv |
| | Variation of the forceset with respect to the joint velocity.
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Matrix6x | dHdq |
| | Variation of the spatial momenta with respect to the joint configuration.
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| Force | dhg |
| | Centroidal momentum time derivative. More...
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VectorXs | Dinv |
| | Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition.
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Matrix6x | dJ |
| | Derivative of the Jacobian with respect to the time.
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container::aligned_vector< typename Inertia::Matrix6 > | doYcrb |
| | Time variation of the inertia quantities expressed in the world frame.
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TangentVectorType | dq_after |
| | Generalized velocity after impact.
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MatrixXs | dtau_dq |
| | Partial derivative of the joint torque vector with respect to the joint configuration.
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MatrixXs | dtau_dv |
| | Partial derivative of the joint torque vector with respect to the joint velocity.
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Matrix6x | dVdq |
| | Variation of the spatial velocity set with respect to the joint configuration.
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container::aligned_vector< typename Inertia::Matrix6 > | dYcrb |
| | Vector of sub-tree composite rigid body inertia time derivatives \( \dot{Y}_{crb}\). See Data::Ycrb for more details.
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container::aligned_vector< Force > | f |
| | Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.
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container::aligned_vector< Matrix6x > | Fcrb |
| | Spatial forces set, used in CRBA and CCRBA.
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| VectorXs | g |
| | Vector of generalized gravity (dim model.nv). More...
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container::aligned_vector< Force > | h |
| | Vector of spatial momenta expressed in the local frame of the joint.
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| Force | hg |
| | Centroidal momentum quantity. More...
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| Inertia | Ig |
| | Centroidal Composite Rigid Body Inertia. More...
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container::aligned_vector< SE3 > | iMf |
| | Vector of joint placements wrt to algorithm end effector.
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VectorXs | impulse_c |
| | Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.
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Matrix6x | IS |
| | Used in computeMinverse.
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Inertia::Matrix6 | Itmp |
| | Temporary for derivative algorithms.
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container::aligned_vector< typename Inertia::Matrix6 > | Ivx |
| | Left variation of the inertia matrix.
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| Matrix6x | J |
| | Jacobian of joint placements. More...
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| Matrix3x | Jcom |
| | Jacobien of center of mass. More...
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MatrixXs | JMinvJt |
| | Inverse of the operational-space inertia matrix.
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JointDataVector | joints |
| | Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.
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Scalar | kinetic_energy |
| | Kinetic energy of the model.
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VectorXs | lambda_c |
| | Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics.
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std::vector< int > | lastChild |
| | Index of the last child (for CRBA)
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container::aligned_vector< SE3 > | liMi |
| | Vector of relative joint placements (wrt the body parent).
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Eigen::LLT< MatrixXs > | llt_JMinvJt |
| | Cholesky decompostion of \(\JMinvJt\).
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MatrixXs | M |
| | The joint space inertia matrix (a square matrix of dim model.nv).
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Matrix6 | M6tmp |
| | Temporary for derivative algorithms.
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RowMatrix6 | M6tmpR |
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RowMatrix6 | M6tmpR2 |
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std::vector< Scalar > | mass |
| | Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \( j \). The element mass[0] corresponds to the total mass of the model.
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RowMatrixXs | Minv |
| | The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
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| VectorXs | nle |
| | Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects. More...
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std::vector< int > | nvSubtree |
| | Dimension of the subtree motion space (for CRBA)
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std::vector< int > | nvSubtree_fromRow |
| | Subtree of the current row index (used in Cholesky Decomposition).
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container::aligned_vector< Motion > | oa |
| | Vector of joint accelerations expressed at the origin of the world.
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container::aligned_vector< Motion > | oa_gf |
| | Vector of joint accelerations expressed at the origin of the world including gravity contribution.
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container::aligned_vector< Force > | of |
| | Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body.
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container::aligned_vector< Force > | oh |
| | Vector of spatial momenta expressed in the world frame.
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container::aligned_vector< SE3 > | oMf |
| | Vector of absolute operationnel frame placements (wrt the world).
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container::aligned_vector< SE3 > | oMi |
| | Vector of absolute joint placements (wrt the world).
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container::aligned_vector< Motion > | ov |
| | Vector of joint velocities expressed at the origin.
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container::aligned_vector< Inertia > | oYcrb |
| | Inertia quantities expressed in the world frame.
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std::vector< int > | parents_fromRow |
| | First previous non-zero row in M (used in Cholesky Decomposition).
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Scalar | potential_energy |
| | Potential energy of the model.
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Matrix6x | SDinv |
| | Used in computeMinverse.
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MatrixXs | sDUiJt |
| | Temporary corresponding to \( \sqrt{D} U^{-1} J^{\top} \).
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Matrix3x | staticRegressor |
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TangentVectorType | tau |
| | Vector of joint torques (dim model.nv).
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VectorXs | tmp |
| | Temporary of size NV used in Cholesky Decomposition.
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VectorXs | torque_residual |
| | Temporary corresponding to the residual torque \( \tau - b(q,\dot{q}) \).
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TangentVectorType | u |
| | Intermediate quantity corresponding to apparent torque [ABA].
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MatrixXs | U |
| | Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.
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Matrix6x | UDinv |
| | Used in computeMinverse.
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container::aligned_vector< Motion > | v |
| | Vector of joint velocities expressed at the centers of the joints.
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container::aligned_vector< Vector3 > | vcom |
| | Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.
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container::aligned_vector< typename Inertia::Matrix6 > | vxI |
| | Right variation of the inertia matrix.
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container::aligned_vector< typename Inertia::Matrix6 > | Yaba |
| | Inertia matrix of the subtree expressed as dense matrix [ABA].
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container::aligned_vector< Inertia > | Ycrb |
| | Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..
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template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >
Definition at line 25 of file data.hpp.
1.8.11