pinocchio Namespace Reference

Namespaces
	buildModels
	cholesky
	container
	forceSet
	ForceSetTpl
	fusion
	helper
	impl
	internal
	lua
	motionSet
	quaternion
	rpy
	serialization
	SizeDepType
	srdf
	Symmetric3Tpl
	urdf

Classes
struct	ABAChecker
struct	AlgorithmCheckerBase
struct	AlgorithmCheckerList
struct	apply_op_if
struct	apply_op_if< OP, true, default_return_value >
struct	BiasZeroTpl
struct	CartesianAxis
struct	CartesianProductOperation
struct	CartesianProductOperationVariant
struct	CastType
struct	CastType< NewScalar, JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	CastType< NewScalar, JointModelMimic< JointModel > >
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	CATBackwardStep
struct	CATForwardStep
struct	CodeGenABA
struct	CodeGenABADerivatives
struct	CodeGenBase
struct	CodeGenCRBA
struct	CodeGenDDifference
struct	CodeGenDifference
struct	CodeGenIntegrate
struct	CodeGenMinv
struct	CodeGenRNEA
struct	CodeGenRNEADerivatives
struct	CollisionPair
struct	ConfigVectorAffineTransform
struct	ConfigVectorAffineTransform< JointRevoluteUnboundedTpl< Scalar, Options, axis > >
class	ConstraintBase
struct	ConstraintForceOp
struct	ConstraintForceOp< ConstraintPrismaticTpl< Scalar, Options, axis >, ForceDerived >
struct	ConstraintForceOp< ConstraintPrismaticUnalignedTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< ConstraintRevoluteTpl< Scalar, Options, axis >, ForceDerived >
struct	ConstraintForceOp< ConstraintRevoluteUnalignedTpl< Scalar, Options >, ForceDerived >
struct	ConstraintForceOp< ScaledConstraint< Constraint >, ForceDerived >
struct	ConstraintForceSetOp
struct	ConstraintForceSetOp< ConstraintPrismaticTpl< Scalar, Options, axis >, ForceSet >
struct	ConstraintForceSetOp< ConstraintPrismaticUnalignedTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< ConstraintRevoluteTpl< Scalar, Options, axis >, ForceSet >
struct	ConstraintForceSetOp< ConstraintRevoluteUnalignedTpl< Scalar, Options >, ForceSet >
struct	ConstraintForceSetOp< ScaledConstraint< Constraint >, ForceSet >
struct	ConstraintIdentityTpl
struct	ConstraintPlanarTpl
struct	ConstraintPrismaticTpl
struct	ConstraintPrismaticUnalignedTpl
struct	ConstraintRevoluteTpl
struct	ConstraintRevoluteUnalignedTpl
struct	ConstraintSphericalTpl
struct	ConstraintSphericalZYXTpl
struct	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	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	Jlog3_impl
struct	Jlog6_impl
struct	JointCollectionDefaultTpl
struct	JointCompositeTpl
struct	JointDataBase
struct	JointDataCompositeTpl
struct	JointDataFreeFlyerTpl
struct	JointDataMimic
struct	JointDataPlanarTpl
struct	JointDataPrismaticTpl
struct	JointDataPrismaticUnalignedTpl
struct	JointDataRevoluteTpl
struct	JointDataRevoluteUnalignedTpl
struct	JointDataRevoluteUnboundedTpl
struct	JointDataRevoluteUnboundedUnalignedTpl
struct	JointDataSphericalTpl
struct	JointDataSphericalZYXTpl
struct	JointDataTpl
struct	JointDataTranslationTpl
struct	JointDataVoid
struct	JointFreeFlyerTpl
struct	JointMimic
struct	JointModelBase
struct	JointModelCompositeTpl
struct	JointModelFreeFlyerTpl
struct	JointModelMimic
struct	JointModelPlanarTpl
struct	JointModelPrismaticTpl
struct	JointModelPrismaticUnalignedTpl
struct	JointModelRevoluteTpl
struct	JointModelRevoluteUnalignedTpl
struct	JointModelRevoluteUnboundedTpl
struct	JointModelRevoluteUnboundedUnalignedTpl
struct	JointModelSphericalTpl
struct	JointModelSphericalZYXTpl
struct	JointModelTpl
struct	JointModelTranslationTpl
struct	JointModelVoid
struct	JointPlanarTpl
struct	JointPrismaticTpl
struct	JointPrismaticUnalignedTpl
struct	JointRevoluteTpl
struct	JointRevoluteUnalignedTpl
struct	JointRevoluteUnboundedTpl
struct	JointRevoluteUnboundedUnalignedTpl
struct	JointSphericalTpl
struct	JointSphericalZYXTpl
struct	JointTpl
struct	JointTranslationTpl
struct	LieGroup
struct	LieGroupBase
struct	LieGroupCollectionDefaultTpl
struct	LieGroupGenericTpl
struct	LieGroupMap
struct	LinearAffineTransform
struct	log3_impl
struct	log6_impl
struct	MatrixMatrixProduct
struct	MatrixScalarProduct
struct	ModelTpl
struct	MotionAlgebraAction
struct	MotionAlgebraAction< BiasZeroTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintIdentityTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintPlanarTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintPrismaticTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< ConstraintPrismaticUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintRevoluteTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< ConstraintRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintSphericalTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintSphericalZYXTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ConstraintTpl< Dim, Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ConstraintTranslationTpl< S1, O1 >, MotionDerived >
struct	MotionAlgebraAction< ForceDense< Derived >, MotionDerived >
struct	MotionAlgebraAction< ForceRef< Vector6ArgType >, MotionDerived >
struct	MotionAlgebraAction< MotionDense< Derived >, MotionDerived >
struct	MotionAlgebraAction< MotionPlanarTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionPrismaticTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< MotionPrismaticUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionRef< Vector6ArgType >, MotionDerived >
struct	MotionAlgebraAction< MotionRevoluteTpl< Scalar, Options, axis >, MotionDerived >
struct	MotionAlgebraAction< MotionRevoluteUnalignedTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionSphericalTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionTranslationTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< MotionZeroTpl< Scalar, Options >, MotionDerived >
struct	MotionAlgebraAction< ScaledConstraint< Constraint >, MotionDerived >
struct	MotionAlgebraAction< SpatialAxis< axis >, MotionDerived >
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	MotionZeroTpl
struct	MultiplicationOp
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintPrismaticTpl< S2, O2, axis > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintPrismaticUnalignedTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintRevoluteTpl< S2, O2, axis > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ConstraintRevoluteUnalignedTpl< Scalar, Options > >
struct	MultiplicationOp< Eigen::MatrixBase< M6Like >, ScaledConstraint< _Constraint > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintPrismaticTpl< S2, O2, axis > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintPrismaticUnalignedTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintRevoluteTpl< S2, O2, axis > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ConstraintRevoluteUnalignedTpl< S2, O2 > >
struct	MultiplicationOp< InertiaTpl< S1, O1 >, ScaledConstraint< _Constraint > >
struct	ParentChecker
struct	ScalarMatrixProduct
struct	ScaledConstraint
struct	SE3Base
struct	SE3GroupAction
struct	SE3GroupAction< BiasZeroTpl< Scalar, Options > >
struct	SE3GroupAction< ConstraintIdentityTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintPlanarTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< ConstraintPrismaticUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< ConstraintRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< ConstraintRevoluteUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< ConstraintSphericalTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintSphericalZYXTpl< S1, O1 > >
struct	SE3GroupAction< ConstraintTpl< Dim, Scalar, Options > >
struct	SE3GroupAction< ConstraintTranslationTpl< S1, O1 > >
struct	SE3GroupAction< ForceDense< Derived > >
struct	SE3GroupAction< ForceRef< Vector6ArgType > >
struct	SE3GroupAction< ForceSet::Block >
struct	SE3GroupAction< MotionDense< Derived > >
struct	SE3GroupAction< MotionPlanarTpl< Scalar, Options > >
struct	SE3GroupAction< MotionPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< MotionPrismaticUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< MotionRef< Vector6ArgType > >
struct	SE3GroupAction< MotionRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< MotionRevoluteUnalignedTpl< Scalar, Options > >
struct	SE3GroupAction< MotionSphericalTpl< Scalar, Options > >
struct	SE3GroupAction< MotionTranslationTpl< Scalar, Options > >
struct	SE3GroupAction< MotionZeroTpl< Scalar, Options > >
struct	SE3GroupAction< ScaledConstraint< Constraint > >
struct	SE3GroupAction< TransformPrismaticTpl< Scalar, Options, axis > >
struct	SE3GroupAction< TransformRevoluteTpl< Scalar, Options, axis > >
struct	SE3GroupAction< TransformTranslationTpl< Scalar, Options > >
struct	SE3Tpl
struct	Serialize
struct	Serialize< JointDataCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	Serialize< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	SINCOSAlgo
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< ::casadi::Matrix< Scalar > >
struct	TaylorSeriesExpansion< CppAD::AD< Scalar > >
struct	TaylorSeriesExpansion< CppAD::cg::CG< Scalar > >
struct	Tensor
struct	traits
struct	traits< CartesianProductOperation< LieGroup1, LieGroup2 > >
struct	traits< CartesianProductOperationVariant >
struct	traits< ConstraintIdentityTpl< _Scalar, _Options > >
struct	traits< ConstraintPlanarTpl< _Scalar, _Options > >
struct	traits< ConstraintPrismaticTpl< _Scalar, _Options, axis > >
struct	traits< ConstraintPrismaticUnalignedTpl< _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< const Vector6ArgType > >
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< JointDataMimic< Joint > >
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< JointDataRevoluteUnboundedUnalignedTpl< Scalar, Options > >
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< JointMimic< Joint > >
struct	traits< JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > >
struct	traits< JointModelFreeFlyerTpl< Scalar, Options > >
struct	traits< JointModelMimic< Joint > >
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< JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > >
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< JointRevoluteUnboundedUnalignedTpl< _Scalar, _Options > >
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< const Vector6ArgType > >
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< MotionZeroTpl< _Scalar, _Options > >
struct	traits< ScaledConstraint< Constraint > >
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	UnboundedRevoluteAffineTransform
struct	VectorSpaceOperationTpl

Enumerations
enum	ArgumentPosition
enum	FrameType
enum	ModelFileExtensionType
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)
void	appendGeometryModel (GeometryModel &geom_model1, const GeometryModel &geom_model2)
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
ModelTpl< Scalar, Options, JointCollectionTpl >	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb)
void	appendModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const GeometryModel &geomModelA, const GeometryModel &geomModelB, const 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	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a, const Eigen::MatrixBase< OutputType > &regressor)
Eigen::Matrix< typename MotionVelocity::Scalar, 6, 10, typename MotionVelocity::Vector3 ::Options >	bodyRegressor (const MotionDense< MotionVelocity > &v, const MotionDense< MotionAcceleration > &a)
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model)
ModelTpl< Scalar, Options, JointCollectionTpl >	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)
void	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model, GeometryModel &reduced_geom_model)
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 &geom_model, GeometryData &geom_data)
PINOCCHIO_DEPRECATED 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)
PINOCCHIO_DEPRECATED 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)
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMap (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x &	computeCentroidalMapTimeVariation (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 &	computeCentroidalMomentum (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentum (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 &	computeCentroidalMomentumTimeVariation (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
const DataTpl< Scalar, Options, JointCollectionTpl >::Force &	computeCentroidalMomentumTimeVariation (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)
bool	computeCollision (const GeometryModel &geom_model, GeometryData &geom_data, const PairIndex &pairId)
bool	computeCollisions (const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false)
bool	computeCollisions (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, 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 &geom_model, GeometryData &geom_data, const PairIndex &pairId)
std::size_t	computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
std::size_t	computeDistances (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
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)
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const ReferenceFrame reference_frame, const Eigen::MatrixBase< Matrix6xLike > &J)
void	computeFrameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J)
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)
void	computeJointJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex jointId, const Eigen::MatrixBase< Matrix6Like > &J)
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)
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
void	computeJointKinematicHessians (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs &	computeJointTorqueRegressor (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)
Scalar	computeKineticEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Scalar	computeKineticEnergy (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)
Scalar	computePotentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Scalar	computePotentialEnergy (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)
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	computeStaticRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	computeStaticTorque (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext)
void	computeStaticTorqueDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const container::aligned_vector< ForceTpl< Scalar, Options > > &fext, const Eigen::MatrixBase< ReturnMatrixType > &static_torque_partial_dq)
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)
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	dinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
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=":")
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 DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	forwardDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &tau, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Eigen::MatrixBase< DriftVectorType > &gamma, const Scalar inv_damping=0.)
PINOCCHIO_DEPRECATED 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, const bool updateKinematics)
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)
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType &	frameBodyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, FrameIndex frameId)
PINOCCHIO_DEPRECATED void	frameJacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6xLike > &J)
void	framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
PINOCCHIO_DEPRECATED void	framesForwardKinematics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
MotionTpl< Scalar, Options >	getAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
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)
MotionTpl< Scalar, Options >	getClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
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, const ReferenceFrame rf=LOCAL)
MotionTpl< Scalar, Options >	getFrameClassicalAcceleration (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const ReferenceFrame rf=LOCAL)
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)
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)
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, const ReferenceFrame rf=LOCAL)
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	getJacobianComFromCrba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
void	getJacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
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	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 > &v_partial_dv, const Eigen::MatrixBase< Matrix6xOut3 > &a_partial_dq, const Eigen::MatrixBase< Matrix6xOut4 > &a_partial_dv, const Eigen::MatrixBase< Matrix6xOut5 > &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)
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)
void	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf, Tensor< Scalar, 3, Options > &kinematic_hessian)
Tensor< Scalar, 3, Options >	getJointKinematicHessian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Model::JointIndex joint_id, const ReferenceFrame rf)
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)
MotionTpl< Scalar, Options >	getVelocity (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
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 Scalar inv_damping=0.)
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType &	impulseDynamics (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< TangentVectorType > &v_before, const Eigen::MatrixBase< ConstraintMatrixType > &J, const Scalar r_coeff=0., const Scalar inv_damping=0.)
PINOCCHIO_DEPRECATED 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, const bool updateKinematics)
void	integrate (const LieGroupGenericTpl< LieGroupCollection > &lg, const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
bool	isNormalized (const Eigen::MatrixBase< VectorLike > &vec, const typename VectorLike::RealScalar &prec=Eigen::NumTraits< typename VectorLike::Scalar >::dummy_precision())
bool	isUnitary (const Eigen::MatrixBase< MatrixLike > &mat, const typename MatrixLike::RealScalar &prec=Eigen::NumTraits< typename MatrixLike::Scalar >::dummy_precision())
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	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
void	jacobianSubtreeCenterOfMass (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase< Matrix3xLike > &res)
void	Jexp3 (const Eigen::MatrixBase< Vector3Like > &r, const Eigen::MatrixBase< Matrix3Like > &Jexp)
void	Jexp6 (const MotionDense< MotionDerived > &nu, const Eigen::MatrixBase< Matrix6Like > &Jexp)
void	Jlog3 (const Scalar &theta, const Eigen::MatrixBase< Vector3Like > &log, const Eigen::MatrixBase< Matrix3Like > &Jlog)
void	Jlog3 (const Eigen::MatrixBase< Matrix3Like1 > &R, const Eigen::MatrixBase< Matrix3Like2 > &Jlog)
void	Jlog6 (const SE3Tpl< Scalar, Options > &M, const Eigen::MatrixBase< Matrix6Like > &Jlog)
SE3Tpl< Scalar, Options >	joint_transform (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
DataTpl< Scalar, Options, JointCollectionTpl >::BodyRegressorType &	jointBodyRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, JointIndex jointId)
PINOCCHIO_DEPRECATED 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 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)
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)
void	normalizeRotation (const Eigen::MatrixBase< Matrix3 > &rot)
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)
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType	operator* (const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint)
MultiplicationOp< Eigen::MatrixBase< MatrixDerived >, ConstraintDerived >::ReturnType	operator* (const Eigen::MatrixBase< MatrixDerived > &Y, const ConstraintBase< ConstraintDerived > &constraint)
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)
Matrix3	orthogonalProjection (const Eigen::MatrixBase< Matrix3 > &mat)
const Scalar	PI ()
PINOCCHIO_DEPRECATED Scalar	potentialEnergy (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const bool update_kinematics)
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 ()
PINOCCHIO_DEPRECATED void	setGeometryMeshScales (GeometryModel &geom_model, const Eigen::MatrixBase< Vector3Like > &meshScale)
PINOCCHIO_DEPRECATED void	setGeometryMeshScales (GeometryModel &geom_model, const double meshScale)
void	setIndexes (JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
std::string	shortname (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Scalar	sign (const Scalar &t)
void	SINCOS (const S1 &a, S2 *sa, S3 *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)
void	toRotationMatrix (const Eigen::MatrixBase< Vector3 > &axis, const Scalar &cos_value, const Scalar &sin_value, const Eigen::MatrixBase< Matrix3 > &res)
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	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 &geom_model, GeometryData &geom_data, const Eigen::MatrixBase< ConfigVectorType > &q)
void	updateGeometryPlacements (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const GeometryModel &geom_model, GeometryData &geom_data)
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, const AssignmentOperatorType op=SETTO)
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)
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg)
void	dIntegrateTransport (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg)
void	dDifference (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &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)