5 #ifndef __pinocchio_regressor_hpp__
6 #define __pinocchio_regressor_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
32 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
35 DataTpl<Scalar,Options,JointCollectionTpl> & data,
36 const Eigen::MatrixBase<ConfigVectorType> & q);
56 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
60 const Eigen::MatrixBase<ConfigVectorType> & q)
62 return ::pinocchio::computeStaticRegressor(model,data,q);
76 template<
typename MotionVelocity,
typename MotionAcceleration,
typename OutputType>
78 bodyRegressor(
const MotionDense<MotionVelocity> & v,
const MotionDense<MotionAcceleration> & a,
const Eigen::MatrixBase<OutputType> & regressor);
91 template<
typename MotionVelocity,
typename MotionAcceleration>
92 inline Eigen::Matrix<
typename MotionVelocity::Scalar,6,10,PINOCCHIO_EIGEN_PLAIN_TYPE(
typename MotionVelocity::Vector3)::Options>
93 bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a);
111 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
114 DataTpl<Scalar,Options,JointCollectionTpl> & data,
133 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
136 DataTpl<Scalar,Options,JointCollectionTpl> & data,
162 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
163 inline typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
165 DataTpl<Scalar,Options,JointCollectionTpl> & data,
166 const Eigen::MatrixBase<ConfigVectorType> & q,
167 const Eigen::MatrixBase<TangentVectorType1> & v,
168 const Eigen::MatrixBase<TangentVectorType2> & a);
173 #include "pinocchio/algorithm/regressor.hxx"
175 #endif // ifndef __pinocchio_regressor_hpp__