jacobian.hpp

//
// Copyright (c) 2015-2020 CNRS INRIA
//

#pragma once

// IWYU pragma: begin_keep
#include <Eigen/Core>

#include <cassert>
#include <cstddef>
#include <type_traits>
#include <vector>

#include <boost/fusion/container/vector.hpp>

#include "pinocchio/macros.hpp"
#include "pinocchio/eigen-common.hpp"
#include "pinocchio/fwd.hpp"

#include "pinocchio/math.hpp"

#include "pinocchio/spatial.hpp"

#include "pinocchio/multibody.hpp"
#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/multibody/visitor.hpp"

#include "pinocchio/algorithm/check.hpp"
// IWYU pragma: end_keep

namespace pinocchio
{
 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType>
 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeJointJacobians(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q);

 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeJointJacobians(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data);

 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename Matrix6Like>
 void getJointJacobian(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const JointIndex joint_id,
 const ReferenceFrame reference_frame,
 const Eigen::MatrixBase<Matrix6Like> & J);
 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
 Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> getJointJacobian(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const JointIndex joint_id,
 const ReferenceFrame reference_frame)
 {
 typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> ReturnType;
 ReturnType res(ReturnType::Zero(6, model.nv));

 getJointJacobian(model, data, joint_id, reference_frame, res);
 return res;
 }

 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType,
 typename Matrix6Like>
 void computeJointJacobian(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q,
 const JointIndex joint_id,
 const Eigen::MatrixBase<Matrix6Like> & J);

 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType,
 typename TangentVectorType>
 const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
 computeJointJacobiansTimeVariation(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q,
 const Eigen::MatrixBase<TangentVectorType> & v);

 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename Matrix6Like>
 void getJointJacobianTimeVariation(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const JointIndex joint_id,
 const ReferenceFrame reference_frame,
 const Eigen::MatrixBase<Matrix6Like> & dJ);

} // namespace pinocchio

// IWYU pragma: begin_exports
#include "pinocchio/src/algorithm/jacobian.hxx"
// IWYU pragma: end_exports