5 #ifndef __pinocchio_joint_basic_visitors_hpp__ 6 #define __pinocchio_joint_basic_visitors_hpp__ 8 #include "pinocchio/multibody/joint/fwd.hpp" 22 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
23 inline JointDataTpl<Scalar,Options,JointCollectionTpl>
24 createData(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
38 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename ConfigVectorType>
39 inline void calc_zero_order(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
40 JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
41 const Eigen::MatrixBase<ConfigVectorType> & q);
55 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
56 inline void calc_first_order(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
57 JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
58 const Eigen::MatrixBase<ConfigVectorType> & q,
59 const Eigen::MatrixBase<TangentVectorType> & v);
73 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl,
typename Matrix6Type>
74 inline void calc_aba(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
75 JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
76 const Eigen::MatrixBase<Matrix6Type> & I,
87 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
88 inline int nv(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
100 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
101 inline int nq(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
113 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
114 inline int idx_q(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
126 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
127 inline int idx_v(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
137 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
138 inline JointIndex
id(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
151 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
152 inline void setIndexes(JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel, JointIndex
id,
int q,
int v);
160 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
161 inline std::string
shortname(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
172 template<
typename NewScalar,
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
173 typename CastType< NewScalar,JointModelTpl<Scalar,Options,JointCollectionTpl> >::type
174 cast_joint(
const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
190 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
191 inline ConstraintTpl<Eigen::Dynamic,Scalar,Options>
192 constraint_xd(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
202 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
203 inline SE3Tpl<Scalar,Options>
204 joint_transform(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
214 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
215 inline MotionTpl<Scalar,Options>
216 motion(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
226 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
227 inline MotionTpl<Scalar,Options>
228 bias(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
238 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
239 inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
240 u_inertia(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
250 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
251 inline Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options>
252 dinv_inertia(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
262 template<
typename Scalar,
int Options,
template<
typename S,
int O>
class JointCollectionTpl>
263 inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
264 udinv_inertia(
const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
274 #endif // ifndef __pinocchio_joint_basic_visitors_hpp__ int nv(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space...
MotionTpl< Scalar, Options > motion(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion...
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corre...
int nq(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space...
JointDataTpl< Scalar, Options, JointCollectionTpl > createData(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through CreateData visitor to create a JointDataTpl.
SE3Tpl< Scalar, Options > joint_transform(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform bet...
JointIndex id(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > udinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix de...
std::string shortname(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > u_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposi...
Main pinocchio namespace.
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type cast_joint(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...>
void setIndexes(JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic...
MotionTpl< Scalar, Options > bias(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion.
void calc_first_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to comput...
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > dinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix d...
ConstraintTpl< Eigen::Dynamic, Scalar, Options > constraint_xd(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constr...
void calc_aba(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to...
void calc_zero_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute...