5 #ifndef __pinocchio_act_on_set_hpp__ 6 #define __pinocchio_act_on_set_hpp__ 8 #include "pinocchio/macros.hpp" 9 #include "pinocchio/spatial/fwd.hpp" 14 enum AssignmentOperatorType
27 template<
int Op,
typename Scalar,
int Options,
typename Mat,
typename MatRet>
28 static void se3Action(
const SE3Tpl<Scalar,Options> & m,
29 const Eigen::MatrixBase<Mat> & iF,
30 Eigen::MatrixBase<MatRet>
const & jF);
33 template<
typename Scalar,
int Options,
typename Mat,
typename MatRet>
34 static void se3Action(
const SE3Tpl<Scalar,Options> & m,
35 const Eigen::MatrixBase<Mat> & iF,
36 Eigen::MatrixBase<MatRet>
const & jF);
42 template<
int Op,
typename Scalar,
int Options,
typename Mat,
typename MatRet>
44 const Eigen::MatrixBase<Mat> & iF,
45 Eigen::MatrixBase<MatRet>
const & jF);
48 template<
typename Scalar,
int Options,
typename Mat,
typename MatRet>
50 const Eigen::MatrixBase<Mat> & iF,
51 Eigen::MatrixBase<MatRet>
const & jF);
57 template<
int Op,
typename MotionDerived,
typename Mat,
typename MatRet>
58 static void motionAction(
const MotionDense<MotionDerived> & v,
59 const Eigen::MatrixBase<Mat> & iF,
60 Eigen::MatrixBase<MatRet>
const & jF);
63 template<
typename MotionDerived,
typename Mat,
typename MatRet>
64 static void motionAction(
const MotionDense<MotionDerived> & v,
65 const Eigen::MatrixBase<Mat> & iF,
66 Eigen::MatrixBase<MatRet>
const & jF);
76 template<
int Op,
typename Scalar,
int Options,
typename Mat,
typename MatRet>
77 static void se3Action(
const SE3Tpl<Scalar,Options> & m,
78 const Eigen::MatrixBase<Mat> & iV,
79 Eigen::MatrixBase<MatRet>
const & jV);
82 template<
typename Scalar,
int Options,
typename Mat,
typename MatRet>
83 static void se3Action(
const SE3Tpl<Scalar,Options> & m,
84 const Eigen::MatrixBase<Mat> & iV,
85 Eigen::MatrixBase<MatRet>
const & jV);
91 template<
int Op,
typename Scalar,
int Options,
typename Mat,
typename MatRet>
93 const Eigen::MatrixBase<Mat> & iV,
94 Eigen::MatrixBase<MatRet>
const & jV);
97 template<
typename Scalar,
int Options,
typename Mat,
typename MatRet>
99 const Eigen::MatrixBase<Mat> & iV,
100 Eigen::MatrixBase<MatRet>
const & jV);
106 template<
int Op,
typename MotionDerived,
typename Mat,
typename MatRet>
107 static void motionAction(
const MotionDense<MotionDerived> & v,
108 const Eigen::MatrixBase<Mat> & iF,
109 Eigen::MatrixBase<MatRet>
const & jF);
112 template<
typename MotionDerived,
typename Mat,
typename MatRet>
113 static void motionAction(
const MotionDense<MotionDerived> & v,
114 const Eigen::MatrixBase<Mat> & iF,
115 Eigen::MatrixBase<MatRet>
const & jF);
121 template<
int Op,
typename Scalar,
int Options,
typename Mat,
typename MatRet>
122 static void inertiaAction(
const InertiaTpl<Scalar,Options> & I,
123 const Eigen::MatrixBase<Mat> & iF,
124 Eigen::MatrixBase<MatRet>
const & jF);
127 template<
typename Scalar,
int Options,
typename Mat,
typename MatRet>
128 static void inertiaAction(
const InertiaTpl<Scalar,Options> & I,
129 const Eigen::MatrixBase<Mat> & iF,
130 Eigen::MatrixBase<MatRet>
const & jF);
139 template<
int Op,
typename ForceDerived,
typename Mat,
typename MatRet>
140 static void act(
const Eigen::MatrixBase<Mat> & iV,
141 const ForceDense<ForceDerived> & f,
142 Eigen::MatrixBase<MatRet>
const & jF);
145 template<
typename ForceDerived,
typename Mat,
typename MatRet>
146 static void act(
const Eigen::MatrixBase<Mat> & iV,
147 const ForceDense<ForceDerived> & f,
148 Eigen::MatrixBase<MatRet>
const & jF);
154 #include "pinocchio/spatial/act-on-set.hxx" 156 #endif // ifndef __pinocchio_act_on_set_hpp__ static void se3ActionInverse(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Inverse SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spat...
static void act(const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF)
Action of a motion set on a force object. The input motion set is represented by a 6xN matrix whose e...
static void se3Action(const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial forc...
Main pinocchio namespace.
static void inertiaAction(const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Action of an Inertia matrix on a set of motions, represented by a 6xN matrix whose columns represent ...
static void motionAction(const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
Action of a motion on a set of forces, represented by a 6xN matrix whose each column represent a spat...