5 #ifndef __pinocchio_centroidal_hpp__ 6 #define __pinocchio_centroidal_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/data.hpp" 10 #include "pinocchio/algorithm/check.hpp" 28 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
29 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
31 DataTpl<Scalar,Options,JointCollectionTpl> & data);
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 &
55 const Eigen::MatrixBase<ConfigVectorType> & q,
56 const Eigen::MatrixBase<TangentVectorType> & v)
68 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
69 typename ConfigVectorType,
typename TangentVectorType>
74 const Eigen::MatrixBase<ConfigVectorType> & q,
75 const Eigen::MatrixBase<TangentVectorType> & v)
93 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
117 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
118 typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
122 const Eigen::MatrixBase<ConfigVectorType> & q,
123 const Eigen::MatrixBase<TangentVectorType1> & v,
124 const Eigen::MatrixBase<TangentVectorType2> & a)
136 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
137 typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
142 const Eigen::MatrixBase<ConfigVectorType> & q,
143 const Eigen::MatrixBase<TangentVectorType1> & v,
144 const Eigen::MatrixBase<TangentVectorType2> & a)
164 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
168 const Eigen::MatrixBase<ConfigVectorType> & q,
169 const Eigen::MatrixBase<TangentVectorType> & v);
187 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
191 const Eigen::MatrixBase<ConfigVectorType> & q,
192 const Eigen::MatrixBase<TangentVectorType> & v);
197 #include "pinocchio/algorithm/centroidal.hxx" 199 #endif // ifndef __pinocchio_centroidal_hpp__
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
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_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)
This function has been renamed into computeCentroidalMomentum. This signature will be removed in a fu...
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 ...
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.
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...
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...
Main pinocchio namespace.