5 #ifndef __pinocchio_jacobian_hpp__
6 #define __pinocchio_jacobian_hpp__
8 #include "pinocchio/multibody/fwd.hpp"
9 #include "pinocchio/multibody/model.hpp"
10 #include "pinocchio/multibody/data.hpp"
29 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
32 DataTpl<Scalar,Options,JointCollectionTpl> & data,
33 const Eigen::MatrixBase<ConfigVectorType> & q);
48 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
51 DataTpl<Scalar,Options,JointCollectionTpl> & data);
66 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6Like>
67 inline void getJointJacobian(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
68 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
69 const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointIndex jointId,
70 const ReferenceFrame rf,
71 const Eigen::MatrixBase<Matrix6Like> & J);
93 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
95 DataTpl<Scalar,Options,JointCollectionTpl> & data,
96 const Eigen::MatrixBase<ConfigVectorType> & q,
97 const JointIndex jointId,
98 const Eigen::MatrixBase<Matrix6Like> & J);
105 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename Matrix6Like>
109 const Eigen::MatrixBase<ConfigVectorType> & q,
110 const JointIndex jointId,
111 const Eigen::MatrixBase<Matrix6Like> & J)
131 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
134 DataTpl<Scalar,Options,JointCollectionTpl> & data,
135 const Eigen::MatrixBase<ConfigVectorType> & q,
136 const Eigen::MatrixBase<TangentVectorType> & v);
151 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6Like>
153 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
154 const JointIndex jointId,
155 const ReferenceFrame rf,
156 const Eigen::MatrixBase<Matrix6Like> & dJ);
164 #include "pinocchio/algorithm/jacobian.hxx"
166 #endif // ifndef __pinocchio_jacobian_hpp__