5 #ifndef __pinocchio_kinematics_hpp__ 6 #define __pinocchio_kinematics_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/data.hpp" 26 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
28 DataTpl<Scalar,Options,JointCollectionTpl> & data);
40 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
41 inline void forwardKinematics(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
42 DataTpl<Scalar,Options,JointCollectionTpl> & data,
43 const Eigen::MatrixBase<ConfigVectorType> & q);
57 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
58 inline void forwardKinematics(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
59 DataTpl<Scalar,Options,JointCollectionTpl> & data,
60 const Eigen::MatrixBase<ConfigVectorType> & q,
61 const Eigen::MatrixBase<TangentVectorType> & v);
76 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
77 inline void forwardKinematics(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
78 DataTpl<Scalar,Options,JointCollectionTpl> & data,
79 const Eigen::MatrixBase<ConfigVectorType> & q,
80 const Eigen::MatrixBase<TangentVectorType1> & v,
81 const Eigen::MatrixBase<TangentVectorType2> & a);
88 #include "pinocchio/algorithm/kinematics.hxx" 91 #endif // ifndef __pinocchio_kinematics_hpp__ 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.
void updateGlobalPlacements(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Update the global placement of the joints oMi according to the relative placements of the joints...
Main pinocchio namespace.