regressor.hpp

//
// Copyright (c) 2018 CNRS
//

#ifndef __pinocchio_regressor_hpp__
#define __pinocchio_regressor_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"

namespace pinocchio
{
    
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x &
  computeStaticRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                         DataTpl<Scalar,Options,JointCollectionTpl> & data,
                         const Eigen::MatrixBase<ConfigVectorType> & q);

  namespace regressor
  {
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
    inline PINOCCHIO_DEPRECATED typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x &
    computeStaticRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                           DataTpl<Scalar,Options,JointCollectionTpl> & data,
                           const Eigen::MatrixBase<ConfigVectorType> & q)
    {
        return ::pinocchio::computeStaticRegressor(model,data,q);
    }
  }

  template<typename MotionVelocity, typename MotionAcceleration, typename OutputType>
  inline void
  bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a, const Eigen::MatrixBase<OutputType> & regressor);

  template<typename MotionVelocity, typename MotionAcceleration>
  inline Eigen::Matrix<typename MotionVelocity::Scalar,6,10,PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options>
  bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline typename DataTpl<Scalar,Options,JointCollectionTpl>::BodyRegressorType &
  jointBodyRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                     DataTpl<Scalar,Options,JointCollectionTpl> & data,
                     JointIndex jointId);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline typename DataTpl<Scalar,Options,JointCollectionTpl>::BodyRegressorType &
  frameBodyRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                     DataTpl<Scalar,Options,JointCollectionTpl> & data,
                     FrameIndex frameId);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
  inline typename 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);

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/regressor.hxx"

#endif // ifndef __pinocchio_regressor_hpp__