5 #ifndef __pinocchio_frames_hpp__ 6 #define __pinocchio_frames_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/data.hpp" 24 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
26 DataTpl<Scalar,Options,JointCollectionTpl> & data);
39 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
40 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::SE3 &
42 DataTpl<Scalar,Options,JointCollectionTpl> & data,
43 const typename ModelTpl<Scalar,Options,JointCollectionTpl>::FrameIndex frame_id);
57 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
59 DataTpl<Scalar,Options,JointCollectionTpl> & data,
60 const Eigen::MatrixBase<ConfigVectorType> & q);
74 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
95 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
99 const typename ModelTpl<Scalar,Options,JointCollectionTpl>::FrameIndex frame_id);
113 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
117 const typename ModelTpl<Scalar,Options,JointCollectionTpl>::FrameIndex frame_id);
139 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xLike>
142 const typename ModelTpl<Scalar,Options,JointCollectionTpl>::FrameIndex frame_id,
143 const ReferenceFrame rf,
144 const Eigen::MatrixBase<Matrix6xLike> & J);
166 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
169 const Eigen::MatrixBase<ConfigVectorType> & q,
170 const FrameIndex frameId,
171 const Eigen::MatrixBase<Matrix6Like> & J);
178 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
182 const Eigen::MatrixBase<ConfigVectorType> & q,
183 const FrameIndex frameId,
184 const Eigen::MatrixBase<Matrix6Like> & J)
202 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xLike>
205 const typename ModelTpl<Scalar,Options,JointCollectionTpl>::FrameIndex frame_id,
206 const ReferenceFrame rf,
207 const Eigen::MatrixBase<Matrix6xLike> & dJ);
212 #include "pinocchio/algorithm/frames.hxx" 214 #endif // ifndef __pinocchio_frames_hpp__ MotionTpl< Scalar, Options > getFrameVelocity(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id)
Returns the spatial velocity of the frame expressed in the LOCAL frame coordinate system...
void getFrameJacobianTimeVariation(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &dJ)
Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the ...
void computeFrameJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific Frame expressed in the LOCAL frame coordinate system...
const DataTpl< Scalar, Options, JointCollectionTpl >::SE3 & updateFramePlacement(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id)
Updates the placement of the given frame.
MotionTpl< Scalar, Options > getFrameAcceleration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id)
Returns the spatial acceleration of the frame expressed in the LOCAL frame coordinate system...
Main pinocchio namespace.
void updateFramePlacements(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Updates the position of each frame contained in the model.
PINOCCHIO_DEPRECATED void frameJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const FrameIndex frameId, const Eigen::MatrixBase< Matrix6Like > &J)
This function is now deprecated and has been renamed computeFrameJacobian. This signature will be rem...
void getFrameJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase< Matrix6xLike > &J)
Returns the jacobian of the frame expressed either expressed in the LOCAL frame coordinate system or ...
void framesForwardKinematics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
First calls the forwardKinematics on the model, then computes the placement of each frame...