pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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aba.hpp
1//
2// Copyright (c) 2026 INRIA
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <cstddef>
8
9#include <omp.h>
10
11#include <Eigen/Core>
12
13#include "pinocchio/macros.hpp"
14
15#include "pinocchio/utils/openmp.hpp"
16#include "pinocchio/multibody/fwd.hpp"
17#include "pinocchio/multibody/pool.hpp"
18#include "pinocchio/algorithm/aba.hpp"
19// IWYU pragma: end_keep
20
21namespace pinocchio
22{
41 template<
42 typename Scalar,
43 int Options,
44 template<typename, int> class JointCollectionTpl,
45 typename ConfigVectorPool,
46 typename TangentVectorPool1,
47 typename TangentVectorPool2,
48 typename TangentVectorPool3>
49 void abaInParallel(
50 const size_t num_threads,
51 ModelPoolTpl<Scalar, Options, JointCollectionTpl> & pool,
52 const Eigen::MatrixBase<ConfigVectorPool> & q,
53 const Eigen::MatrixBase<TangentVectorPool1> & v,
54 const Eigen::MatrixBase<TangentVectorPool2> & tau,
55 const Eigen::MatrixBase<TangentVectorPool3> & a);
56} // namespace pinocchio
57
58// IWYU pragma: begin_exports
59#include "pinocchio/src/algorithm/parallel/aba.hxx"
60// IWYU pragma: end_exports
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::abaInParallel
void abaInParallel(const size_t num_threads, ModelPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< TangentVectorPool1 > &v, const Eigen::MatrixBase< TangentVectorPool2 > &tau, const Eigen::MatrixBase< TangentVectorPool3 > &a)
A parallel version of the Articulated Body algorithm. It computes the forward dynamics,...