pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
aba.hpp
1 //
2 // Copyright (c) 2016-2018 CNRS
3 //
4 
5 #ifndef __pinocchio_aba_hpp__
6 #define __pinocchio_aba_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/check.hpp"
11 
12 namespace pinocchio
13 {
30  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
31  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
32  aba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
33  DataTpl<Scalar,Options,JointCollectionTpl> & data,
34  const Eigen::MatrixBase<ConfigVectorType> & q,
35  const Eigen::MatrixBase<TangentVectorType1> & v,
36  const Eigen::MatrixBase<TangentVectorType2> & tau);
37 
56  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, typename ForceDerived>
57  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
58  aba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
59  DataTpl<Scalar,Options,JointCollectionTpl> & data,
60  const Eigen::MatrixBase<ConfigVectorType> & q,
61  const Eigen::MatrixBase<TangentVectorType1> & v,
62  const Eigen::MatrixBase<TangentVectorType2> & tau,
63  const container::aligned_vector<ForceDerived> & fext);
64 
77  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
78  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::RowMatrixXs &
79  computeMinverse(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
80  DataTpl<Scalar,Options,JointCollectionTpl> & data,
81  const Eigen::MatrixBase<ConfigVectorType> & q);
82 
83 
84  PINOCCHIO_DEFINE_ALGO_CHECKER(ABA);
85 
86 } // namespace pinocchio
87 
88 /* --- Details -------------------------------------------------------------------- */
89 #include "pinocchio/algorithm/aba.hxx"
90 
91 #endif // ifndef __pinocchio_aba_hpp__
pinocchio::aba
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)
The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given t...
pinocchio::computeMinverse
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & computeMinverse(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the inverse of the joint space inertia matrix using Articulated Body formulation.
pinocchio::DataTpl::TangentVectorType
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).
Definition: data.hpp:68
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24