pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
centroidal.hpp
1 //
2 // Copyright (c) 2015-2019 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_centroidal_hpp__
6 #define __pinocchio_algorithm_centroidal_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/kinematics.hpp"
11 
12 namespace pinocchio
13 {
14 
28  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
29  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
30  computeCentroidalMomentum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
31  DataTpl<Scalar,Options,JointCollectionTpl> & data);
32 
50  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
51  typename ConfigVectorType, typename TangentVectorType>
52  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
53  computeCentroidalMomentum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
54  DataTpl<Scalar,Options,JointCollectionTpl> & data,
55  const Eigen::MatrixBase<ConfigVectorType> & q,
56  const Eigen::MatrixBase<TangentVectorType> & v)
57  {
58  forwardKinematics(model,data,q.derived(),v.derived());
59  return computeCentroidalMomentum(model,data);
60  }
61 
66  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
67  typename ConfigVectorType, typename TangentVectorType>
68  PINOCCHIO_DEPRECATED
69  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
70  computeCentroidalDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
71  DataTpl<Scalar,Options,JointCollectionTpl> & data,
72  const Eigen::MatrixBase<ConfigVectorType> & q,
73  const Eigen::MatrixBase<TangentVectorType> & v)
74  {
75  return computeCentroidalMomentum(model,data,q,v);
76  }
77 
91  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
92  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
93  computeCentroidalMomentumTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
94  DataTpl<Scalar,Options,JointCollectionTpl> & data);
95 
115  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
116  typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
117  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
118  computeCentroidalMomentumTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
119  DataTpl<Scalar,Options,JointCollectionTpl> & data,
120  const Eigen::MatrixBase<ConfigVectorType> & q,
121  const Eigen::MatrixBase<TangentVectorType1> & v,
122  const Eigen::MatrixBase<TangentVectorType2> & a)
123  {
124  forwardKinematics(model,data,q,v,a);
125  return computeCentroidalMomentumTimeVariation(model,data);
126  }
127 
132  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
133  typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
134  PINOCCHIO_DEPRECATED
135  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
136  computeCentroidalDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
137  DataTpl<Scalar,Options,JointCollectionTpl> & data,
138  const Eigen::MatrixBase<ConfigVectorType> & q,
139  const Eigen::MatrixBase<TangentVectorType1> & v,
140  const Eigen::MatrixBase<TangentVectorType2> & a)
141  {
142  return computeCentroidalMomentumTimeVariation(model,data,q,v,a);
143  }
144 
162  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
163  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
164  ccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
165  DataTpl<Scalar,Options,JointCollectionTpl> & data,
166  const Eigen::MatrixBase<ConfigVectorType> & q,
167  const Eigen::MatrixBase<TangentVectorType> & v);
168 
183  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
184  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
185  computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
186  DataTpl<Scalar,Options,JointCollectionTpl> & data,
187  const Eigen::MatrixBase<ConfigVectorType> & q);
188 
207  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
208  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
209  dccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
210  DataTpl<Scalar,Options,JointCollectionTpl> & data,
211  const Eigen::MatrixBase<ConfigVectorType> & q,
212  const Eigen::MatrixBase<TangentVectorType> & v);
213 
230  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
231  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
232  computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
233  DataTpl<Scalar,Options,JointCollectionTpl> & data,
234  const Eigen::MatrixBase<ConfigVectorType> & q,
235  const Eigen::MatrixBase<TangentVectorType> & v);
236 
237 } // namespace pinocchio
238 
239 /* --- Details -------------------------------------------------------------------- */
240 #include "pinocchio/algorithm/centroidal.hxx"
241 
242 #endif // ifndef __pinocchio_algorithm_centroidal_hpp__
pinocchio::computeCentroidalMapTimeVariation
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)
Computes the Centroidal Momentum Matrix time derivative.
pinocchio::computeCentroidalMap
const DataTpl< Scalar, Options, JointCollectionTpl >::Matrix6x & computeCentroidalMap(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the Centroidal Momentum Matrix,.
pinocchio::DataTpl::Matrix6x
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
Definition: data.hpp:71
pinocchio::computeCentroidalMomentumTimeVariation
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentumTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and...
pinocchio::computeCentroidalDynamics
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)
Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center ...
Definition: centroidal.hpp:70
pinocchio::computeCentroidalMomentum
const DataTpl< Scalar, Options, JointCollectionTpl >::Force & computeCentroidalMomentum(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center ...
pinocchio::forwardKinematics
void forwardKinematics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Update the joint placements according to the current joint configuration.
pinocchio::dccrba
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)
Computes the time derivative of the Centroidal Momentum Matrix according to the current configuration...
pinocchio::ccrba
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)
Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal m...
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24