pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
crba.hpp
1 //
2 // Copyright (c) 2015-2018 CNRS
3 //
4 
5 #ifndef __pinocchio_crba_hpp__
6 #define __pinocchio_crba_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 {
32  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
33  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
34  crba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
35  DataTpl<Scalar,Options,JointCollectionTpl> & data,
36  const Eigen::MatrixBase<ConfigVectorType> & q);
37 
59  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
60  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
61  crbaMinimal(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
62  DataTpl<Scalar,Options,JointCollectionTpl> & data,
63  const Eigen::MatrixBase<ConfigVectorType> & q);
64 
65  PINOCCHIO_DEFINE_ALGO_CHECKER(CRBA);
66 
67 } // namespace pinocchio
68 
69 /* --- Details -------------------------------------------------------------------- */
70 #include "pinocchio/algorithm/crba.hxx"
71 
72 #endif // ifndef __pinocchio_crba_hpp__
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid B...
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crbaMinimal(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid B...
Main pinocchio namespace.
Definition: treeview.dox:24