pinocchio  3.9.0
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
5#ifndef __pinocchio_algorithm_model_hpp__
6#define __pinocchio_algorithm_model_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/geometry.hpp"
10
11namespace pinocchio
12{
27 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
28 void appendModel(
29 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
30 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
31 const FrameIndex frameInModelA,
32 const SE3Tpl<Scalar, Options> & aMb,
33 ModelTpl<Scalar, Options, JointCollectionTpl> & model);
34
50 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
51 ModelTpl<Scalar, Options, JointCollectionTpl> 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 {
57 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
58 Model model;
59
60 appendModel(modelA, modelB, frameInModelA, aMb, model);
61
62 return model;
63 }
64
77 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
78 void appendModel(
79 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
80 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
81 const GeometryModel & geomModelA,
82 const GeometryModel & geomModelB,
83 const FrameIndex frameInModelA,
84 const SE3Tpl<Scalar, Options> & aMb,
85 ModelTpl<Scalar, Options, JointCollectionTpl> & model,
86 GeometryModel & geomModel);
87
104 template<
105 typename Scalar,
106 int Options,
107 template<typename, int> class JointCollectionTpl,
108 typename ConfigVectorType>
109 void buildReducedModel(
110 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
111 std::vector<JointIndex> list_of_joints_to_lock,
112 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
113 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model);
114
129 template<
130 typename Scalar,
131 int Options,
132 template<typename, int> class JointCollectionTpl,
133 typename ConfigVectorType>
134 ModelTpl<Scalar, Options, JointCollectionTpl> buildReducedModel(
135 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
136 const std::vector<JointIndex> & list_of_joints_to_lock,
137 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration)
138 {
139 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
140 Model reduced_model;
141
142 buildReducedModel(model, list_of_joints_to_lock, reference_configuration, reduced_model);
143
144 return reduced_model;
145 }
146
163 template<
164 typename Scalar,
165 int Options,
166 template<typename, int> class JointCollectionTpl,
167 typename ConfigVectorType>
168 void buildReducedModel(
169 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
170 const GeometryModel & geom_model,
171 const std::vector<JointIndex> & list_of_joints_to_lock,
172 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
173 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
174 GeometryModel & reduced_geom_model);
175
192 template<
193 typename Scalar,
194 int Options,
195 template<typename, int> class JointCollectionTpl,
196 typename GeometryModelAllocator,
197 typename ConfigVectorType>
198 void buildReducedModel(
199 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
200 const std::vector<GeometryModel, GeometryModelAllocator> & list_of_geom_models,
201 const std::vector<JointIndex> & list_of_joints_to_lock,
202 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
203 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
204 std::vector<GeometryModel, GeometryModelAllocator> & list_of_reduced_geom_models);
205
219 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
220 void transformJointIntoMimic(
221 const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
222 const JointIndex & index_mimicked,
223 const JointIndex & index_mimicking,
224 const Scalar & scaling,
225 const Scalar & offset,
226 ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
227
240 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
241 void buildMimicModel(
242 const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
243 const std::vector<JointIndex> & index_mimicked,
244 const std::vector<JointIndex> & index_mimicking,
245 const std::vector<Scalar> & scaling,
246 const std::vector<Scalar> & offset,
247 ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
248
260 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
261 JointIndex findCommonAncestor(
262 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
263 JointIndex joint1_id,
264 JointIndex joint2_id,
265 size_t & index_ancestor_in_support1,
266 size_t & index_ancestor_in_support2);
267
268} // namespace pinocchio
269
270#include "pinocchio/algorithm/model.hxx"
271
272#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
273 #include "pinocchio/algorithm/model.txx"
274#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
275
276#endif // ifndef __pinocchio_algorithm_model_hpp__
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...