5 #ifndef __pinocchio_center_of_mass_hpp__
6 #define __pinocchio_center_of_mass_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
21 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
22 inline Scalar
computeTotalMass(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model);
35 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
36 inline Scalar
computeTotalMass(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
37 DataTpl<Scalar,Options,JointCollectionTpl> & data);
47 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
49 DataTpl<Scalar,Options,JointCollectionTpl> & data);
65 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
66 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Vector3 &
67 centerOfMass(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
68 DataTpl<Scalar,Options,JointCollectionTpl> & data,
69 const Eigen::MatrixBase<ConfigVectorType> & q,
70 const bool computeSubtreeComs =
true);
89 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
90 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Vector3 &
91 centerOfMass(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
92 DataTpl<Scalar,Options,JointCollectionTpl> & data,
93 const Eigen::MatrixBase<ConfigVectorType> & q,
94 const Eigen::MatrixBase<TangentVectorType> & v,
95 const bool computeSubtreeComs =
true);
116 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
117 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Vector3 &
118 centerOfMass(
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 const bool computeSubtreeComs =
true);
137 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
138 inline void centerOfMass(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
139 DataTpl<Scalar,Options,JointCollectionTpl> & data,
141 const bool computeSubtreeComs =
true);
154 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
157 const bool computeSubtreeComs =
true)
175 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
178 DataTpl<Scalar,Options,JointCollectionTpl> & data,
179 const Eigen::MatrixBase<ConfigVectorType> & q,
180 const bool computeSubtreeComs =
true);
197 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
200 DataTpl<Scalar,Options,JointCollectionTpl> & data,
201 const bool computeSubtreeComs =
true);
217 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix3xLike>
220 DataTpl<Scalar,Options,JointCollectionTpl> & data,
221 const Eigen::MatrixBase<ConfigVectorType> & q,
222 const JointIndex & rootSubtreeId,
223 const Eigen::MatrixBase<Matrix3xLike> & res);
237 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix3xLike>
240 DataTpl<Scalar,Options,JointCollectionTpl> & data,
241 const JointIndex & rootSubtreeId,
242 const Eigen::MatrixBase<Matrix3xLike> & res);
256 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix3xLike>
259 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
260 const JointIndex & rootSubtreeId,
261 const Eigen::MatrixBase<Matrix3xLike> & res);
280 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
281 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Vector3 &
282 getComFromCrba(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
283 DataTpl<Scalar,Options,JointCollectionTpl> & data);
298 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
301 DataTpl<Scalar,Options,JointCollectionTpl> & data);
308 #include "pinocchio/algorithm/center-of-mass.hxx"
310 #endif // ifndef __pinocchio_center_of_mass_hpp__