pinocchio  2.6.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joint-basic-visitors.hpp
1 //
2 // Copyright (c) 2016,2018 CNRS
3 //
4 
5 #ifndef __pinocchio_joint_basic_visitors_hpp__
6 #define __pinocchio_joint_basic_visitors_hpp__
7 
8 #include "pinocchio/multibody/joint/fwd.hpp"
9 
10 namespace pinocchio
11 {
12 
22  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
23  inline JointDataTpl<Scalar,Options,JointCollectionTpl>
24  createData(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
25 
26 
38  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType>
39  inline void calc_zero_order(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
40  JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
41  const Eigen::MatrixBase<ConfigVectorType> & q);
42 
56  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
57  inline void calc_first_order(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
58  JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
59  const Eigen::MatrixBase<ConfigVectorType> & q,
60  const Eigen::MatrixBase<TangentVectorType> & v);
61 
62 
74  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename Matrix6Type>
75  inline void calc_aba(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
76  JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
77  const Eigen::MatrixBase<Matrix6Type> & I,
78  const bool update_I);
79 
88  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
89  inline int nv(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
90 
91 
92 
101  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
102  inline int nq(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
103 
104 
114  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
115  inline int idx_q(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
116 
117 
127  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
128  inline int idx_v(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
129 
130 
138  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
139  inline JointIndex id(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
140 
152  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
153  inline void setIndexes(JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel, JointIndex id, int q,int v);
154 
155 
161  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
162  inline std::string shortname(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
163 
173  template<typename NewScalar, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
174  typename CastType< NewScalar,JointModelTpl<Scalar,Options,JointCollectionTpl> >::type
175  cast_joint(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel);
176 
177 
178  //
179  // Visitors on JointDatas
180  //
181 
182 
191  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
192  inline ConstraintTpl<Eigen::Dynamic,Scalar,Options>
193  constraint_xd(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
194 
203  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
204  inline SE3Tpl<Scalar,Options>
205  joint_transform(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
206 
215  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
216  inline MotionTpl<Scalar,Options>
217  motion(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
218 
227  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
228  inline MotionTpl<Scalar,Options>
229  bias(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
230 
239  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
240  inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
241  u_inertia(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
242 
251  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
252  inline Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options>
253  dinv_inertia(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
254 
263  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
264  inline Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options>
265  udinv_inertia(const JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata);
266 
267 } // namespace pinocchio
268 
269 
270 /* --- Details -------------------------------------------------------------------- */
271 // Included later
272 // #include "pinocchio/multibody/joint/joint-basic-visitors.hxx"
273 
274 
275 #endif // ifndef __pinocchio_joint_basic_visitors_hpp__
pinocchio::idx_q
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
pinocchio::idx_v
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corre...
pinocchio::nv
int nv(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space.
pinocchio::id
JointIndex id(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain.
pinocchio::nq
int nq(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space.
pinocchio::udinv_inertia
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > udinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix de...
pinocchio::shortname
std::string shortname(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model.
pinocchio::calc_first_order
void calc_first_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to comput...
pinocchio::setIndexes
void setIndexes(JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v)
Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic...
pinocchio::constraint_xd
ConstraintTpl< Eigen::Dynamic, Scalar, Options > constraint_xd(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constr...
pinocchio::u_inertia
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > u_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposi...
pinocchio::calc_aba
void calc_aba(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to.
pinocchio::motion
MotionTpl< Scalar, Options > motion(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion.
pinocchio::calc_zero_order
void calc_zero_order(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q)
Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute...
pinocchio::cast_joint
CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type cast_joint(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...>
pinocchio::createData
JointDataTpl< Scalar, Options, JointCollectionTpl > createData(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through CreateData visitor to create a JointDataTpl.
pinocchio::joint_transform
SE3Tpl< Scalar, Options > joint_transform(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform bet...
pinocchio::bias
MotionTpl< Scalar, Options > bias(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion.
pinocchio::dinv_inertia
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > dinv_inertia(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix d...
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24