rnea-second-order-derivatives.hpp

//
// Copyright (c) 2017-2019 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,
 typename TangentVectorType1,
 typename TangentVectorType2,
 typename Tensor1,
 typename Tensor2,
 typename Tensor3,
 typename Tensor4>
 inline void ComputeRNEASecondOrderDerivatives(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q,
 const Eigen::MatrixBase<TangentVectorType1> & v,
 const Eigen::MatrixBase<TangentVectorType2> & a,
 const Tensor1 & d2tau_dqdq,
 const Tensor2 & d2tau_dvdv,
 const Tensor3 & dtau_dqdv,
 const Tensor4 & dtau_dadq);


 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType,
 typename TangentVectorType1,
 typename TangentVectorType2>
 inline void ComputeRNEASecondOrderDerivatives(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q,
 const Eigen::MatrixBase<TangentVectorType1> & v,
 const Eigen::MatrixBase<TangentVectorType2> & a)
 {
 (data.d2tau_dqdq).setZero();
 (data.d2tau_dvdv).setZero();
 (data.d2tau_dqdv).setZero();
 (data.d2tau_dadq).setZero();

 ComputeRNEASecondOrderDerivatives(
 model, data, q.derived(), v.derived(), a.derived(), data.d2tau_dqdq, data.d2tau_dvdv,
 data.d2tau_dqdv, data.d2tau_dadq);
 }

} // namespace pinocchio

// IWYU pragma: begin_exports
#include "pinocchio/src/algorithm/rnea-second-order-derivatives.hxx"
// IWYU pragma: end_exports