pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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kinematics.hpp
1//
2// Copyright (c) 2015-2019 CNRS INRIA
3//
4
5#ifndef __pinocchio_kinematics_hpp__
6#define __pinocchio_kinematics_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10
11namespace pinocchio
12{
13
26 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
27 void updateGlobalPlacements(
28 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
29 DataTpl<Scalar, Options, JointCollectionTpl> & data);
30
41 template<
42 typename Scalar,
43 int Options,
44 template<typename, int> class JointCollectionTpl,
45 typename ConfigVectorType>
46 void forwardKinematics(
47 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
48 DataTpl<Scalar, Options, JointCollectionTpl> & data,
49 const Eigen::MatrixBase<ConfigVectorType> & q);
50
64 template<
65 typename Scalar,
66 int Options,
67 template<typename, int> class JointCollectionTpl,
68 typename ConfigVectorType,
69 typename TangentVectorType>
70 void forwardKinematics(
71 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
72 DataTpl<Scalar, Options, JointCollectionTpl> & data,
73 const Eigen::MatrixBase<ConfigVectorType> & q,
74 const Eigen::MatrixBase<TangentVectorType> & v);
90 template<
91 typename Scalar,
92 int Options,
93 template<typename, int> class JointCollectionTpl,
94 typename ConfigVectorType,
95 typename TangentVectorType1,
96 typename TangentVectorType2>
97 void forwardKinematics(
98 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
99 DataTpl<Scalar, Options, JointCollectionTpl> & data,
100 const Eigen::MatrixBase<ConfigVectorType> & q,
101 const Eigen::MatrixBase<TangentVectorType1> & v,
102 const Eigen::MatrixBase<TangentVectorType2> & a);
103
122 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
123 SE3Tpl<Scalar, Options> getRelativePlacement(
124 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
125 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
126 const JointIndex jointIdRef,
127 const JointIndex jointIdTarget,
128 const Convention convention = Convention::LOCAL);
129
144 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
145 MotionTpl<Scalar, Options> getVelocity(
146 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
147 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
148 const JointIndex jointId,
149 const ReferenceFrame rf = LOCAL);
150
165 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
166 MotionTpl<Scalar, Options> getAcceleration(
167 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
168 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
169 const JointIndex jointId,
170 const ReferenceFrame rf = LOCAL);
171
187 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
188 MotionTpl<Scalar, Options> getClassicalAcceleration(
189 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
190 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
191 const JointIndex jointId,
192 const ReferenceFrame rf = LOCAL);
193
194} // namespace pinocchio
195
196/* --- Details -------------------------------------------------------------------- */
197/* --- Details -------------------------------------------------------------------- */
198/* --- Details -------------------------------------------------------------------- */
199#include "pinocchio/algorithm/kinematics.hxx"
200
201#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
202 #include "pinocchio/algorithm/kinematics.txx"
203#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
204
205#endif // ifndef __pinocchio_kinematics_hpp__
pinocchio::Convention
Convention
List of convention to call algorithms.
Definition fwd.hpp:74
pinocchio::ReferenceFrame
ReferenceFrame
Various conventions to express the velocity of a moving frame.
Definition fwd.hpp:47
pinocchio::Convention::LOCAL
@ LOCAL
Definition fwd.hpp:80
pinocchio::LOCAL
@ LOCAL
Definition fwd.hpp:50
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::forwardKinematics
void forwardKinematics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Update the joint placements according to the current joint configuration.
pinocchio::getVelocity
MotionTpl< Scalar, Options > getVelocity(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
Returns the spatial velocity of the joint expressed in the desired reference frame....
pinocchio::updateGlobalPlacements
void updateGlobalPlacements(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Update the global placement of the joints oMi according to the relative placements of the joints.
pinocchio::getAcceleration
MotionTpl< Scalar, Options > getAcceleration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
Returns the spatial acceleration of the joint expressed in the desired reference frame....
pinocchio::getRelativePlacement
SE3Tpl< Scalar, Options > getRelativePlacement(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointIdRef, const JointIndex jointIdTarget, const Convention convention=Convention::LOCAL)
Returns the relative placement of two joints expressed in the desired reference frame....
pinocchio::getClassicalAcceleration
MotionTpl< Scalar, Options > getClassicalAcceleration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)
Returns the "classical" acceleration of the joint expressed in the desired reference frame....