pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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model.hpp
1//
2// Copyright (c) 2019 CNRS INRIA
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <Eigen/Core>
8//
9#include <cassert>
10#include <cstddef>
11#include <stdexcept>
12#include <algorithm>
13#include <type_traits>
14#include <utility>
15#include <iterator>
16#include <string>
17#include <vector>
18
19#include <boost/fusion/container/vector.hpp>
20#include <boost/variant/get.hpp>
21
22#include "pinocchio/macros.hpp"
23#include "pinocchio/fwd.hpp"
24
25#include "pinocchio/spatial.hpp"
26
27#include "pinocchio/multibody.hpp"
28#include "pinocchio/geometry.hpp"
29#include "pinocchio/multibody/joint.hpp"
30
31#include "pinocchio/algorithm/joint-configuration.hpp"
32// IWYU pragma: end_keep
33
34namespace pinocchio
35{
50 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
51 void appendModel(
52 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
53 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
54 const FrameIndex frameInModelA,
55 const SE3Tpl<Scalar, Options> & aMb,
56 ModelTpl<Scalar, Options, JointCollectionTpl> & model);
57
73 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
74 ModelTpl<Scalar, Options, JointCollectionTpl> appendModel(
75 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
76 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
77 const FrameIndex frameInModelA,
78 const SE3Tpl<Scalar, Options> & aMb)
79 {
80 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
81 Model model;
82
83 appendModel(modelA, modelB, frameInModelA, aMb, model);
84
85 return model;
86 }
87
100 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
101 void appendModel(
102 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
103 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
104 const GeometryModel & geomModelA,
105 const GeometryModel & geomModelB,
106 const FrameIndex frameInModelA,
107 const SE3Tpl<Scalar, Options> & aMb,
108 ModelTpl<Scalar, Options, JointCollectionTpl> & model,
109 GeometryModel & geomModel);
110
127 template<
128 typename Scalar,
129 int Options,
130 template<typename, int> class JointCollectionTpl,
131 typename ConfigVectorType>
132 void buildReducedModel(
133 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
134 std::vector<JointIndex> list_of_joints_to_lock,
135 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
136 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model);
137
152 template<
153 typename Scalar,
154 int Options,
155 template<typename, int> class JointCollectionTpl,
156 typename ConfigVectorType>
157 ModelTpl<Scalar, Options, JointCollectionTpl> buildReducedModel(
158 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
159 const std::vector<JointIndex> & list_of_joints_to_lock,
160 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration)
161 {
162 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
163 Model reduced_model;
164
165 buildReducedModel(model, list_of_joints_to_lock, reference_configuration, reduced_model);
166
167 return reduced_model;
168 }
169
186 template<
187 typename Scalar,
188 int Options,
189 template<typename, int> class JointCollectionTpl,
190 typename ConfigVectorType>
191 void buildReducedModel(
192 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
193 const GeometryModel & geom_model,
194 const std::vector<JointIndex> & list_of_joints_to_lock,
195 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
196 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
197 GeometryModel & reduced_geom_model);
198
215 template<
216 typename Scalar,
217 int Options,
218 template<typename, int> class JointCollectionTpl,
219 typename ConfigVectorType>
220 void buildReducedModel(
221 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
222 const std::vector<GeometryModel> & list_of_geom_models,
223 const std::vector<JointIndex> & list_of_joints_to_lock,
224 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
225 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
226 std::vector<GeometryModel> & list_of_reduced_geom_models);
227
241 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
242 void transformJointIntoMimic(
243 const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
244 const JointIndex & index_mimicked,
245 const JointIndex & index_mimicking,
246 const Scalar & scaling,
247 const Scalar & offset,
248 ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
249
262 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
263 void buildMimicModel(
264 const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
265 const std::vector<JointIndex> & index_mimicked,
266 const std::vector<JointIndex> & index_mimicking,
267 const std::vector<Scalar> & scaling,
268 const std::vector<Scalar> & offset,
269 ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
270
282 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
283 JointIndex findCommonAncestor(
284 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
285 JointIndex joint1_id,
286 JointIndex joint2_id,
287 size_t & index_ancestor_in_support1,
288 size_t & index_ancestor_in_support2);
289
299 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
300 JointIndex findCommonAncestor(
301 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
302 JointIndex joint1_id,
303 JointIndex joint2_id)
304 {
305 size_t index_ancestor_in_support1, index_ancestor_in_support2;
306 return findCommonAncestor(
307 model, joint1_id, joint2_id, index_ancestor_in_support1, index_ancestor_in_support2);
308 }
309
310} // namespace pinocchio
311
312// IWYU pragma: begin_exports
313#include "pinocchio/src/algorithm/model.hxx"
314// IWYU pragma: end_exports
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::findCommonAncestor
JointIndex findCommonAncestor(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, JointIndex joint1_id, JointIndex joint2_id, size_t &index_ancestor_in_support1, size_t &index_ancestor_in_support2)
Computes the common ancestor between two joints belonging to the same kinematic tree.
pinocchio::appendModel
void appendModel(const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
Append a child model into a parent model, after a specific frame given by its index.
pinocchio::buildReducedModel
void buildReducedModel(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model)
Build a reduced model from a given input model and a list of joint to lock.
pinocchio::buildMimicModel
void buildMimicModel(const ModelTpl< Scalar, Options, JointCollectionTpl > &input_model, const std::vector< JointIndex > &index_mimicked, const std::vector< JointIndex > &index_mimicking, const std::vector< Scalar > &scaling, const std::vector< Scalar > &offset, ModelTpl< Scalar, Options, JointCollectionTpl > &output_model)
Transform joints of a model into mimic joints.
pinocchio::transformJointIntoMimic
void transformJointIntoMimic(const ModelTpl< Scalar, Options, JointCollectionTpl > &input_model, const JointIndex &index_mimicked, const JointIndex &index_mimicking, const Scalar &scaling, const Scalar &offset, ModelTpl< Scalar, Options, JointCollectionTpl > &output_model)
Transform of a joint of the model into a mimic joint. Keep the type of the joint as it was previously...