enum { Options = _Options
} typedef Eigen::Matrix< Scalar, 6, 10, Options > BodyRegressorType The type of the body regressor. typedef VectorXs ConfigVectorType Dense vectorized version of a joint configuration vector. typedef ForceTpl < Scalar, Options > Force typedef FrameTpl < Scalar, Options > Frame typedef pinocchio::FrameIndex FrameIndex typedef pinocchio::GeomIndex GeomIndex typedef pinocchio::Index Index typedef std::vector< Index > IndexVector typedef InertiaTpl < Scalar, Options > Inertia typedef JointCollectionTpl< Scalar, Options > JointCollection typedef JointDataTpl < Scalar, Options, JointCollectionTpl > JointData typedef pinocchio::JointIndex JointIndex typedef JointModelTpl < Scalar, Options, JointCollectionTpl > JointModel typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x The 3d jacobian type (temporary) typedef Eigen::Matrix< Scalar, 6, 6, Options > Matrix6 typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x The 6d jacobian type (temporary) typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs typedef ModelTpl < Scalar, Options, JointCollectionTpl > Model typedef MotionTpl < Scalar, Options > Motion typedef Eigen::Matrix< Scalar, 6, 6, Eigen::RowMajor|Options > RowMatrix6 typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options > RowMatrixXs typedef Eigen::Matrix< Scalar, 1, Eigen::Dynamic, Options|Eigen::RowMajor > RowVectorXs typedef _Scalar Scalar typedef SE3Tpl < Scalar, Options > SE3 typedef VectorXs TangentVectorType Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc). typedef Tensor < Scalar, 3, Options > Tensor3x typedef Eigen::Matrix< Scalar, 3, 1, Options > Vector3 typedef Eigen::Matrix< Scalar, 6, 1, Options > Vector6 typedef Eigen::Matrix< Scalar, 6, 1, Options > Vector6c typedef Eigen::Matrix< Scalar, 1, 6, Eigen::RowMajor|Options > Vector6r typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs typedef traits < DataTpl < _Scalar, _Options, JointCollectionTpl > >::Scalar Scalar
DataTpl () Default constructor. DataTpl (const Model &model) Default constructor of pinocchio::Data from a pinocchio::Model. PINOCCHIO_ALIGNED_STD_VECTOR (Force ) f Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.PINOCCHIO_ALIGNED_STD_VECTOR (Force ) h Vector of spatial momenta expressed in the local frame of the joint.PINOCCHIO_ALIGNED_STD_VECTOR (Force ) of Vector of body forces expressed at the origin of the world. For each body, the force represents the sum of all external forces acting on the body.PINOCCHIO_ALIGNED_STD_VECTOR (Force ) of_augmented Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body. These forces are used in the context of augmented Lagrangian algorithms.PINOCCHIO_ALIGNED_STD_VECTOR (Force ) oh Vector of spatial momenta expressed at the origin of the world.PINOCCHIO_ALIGNED_STD_VECTOR (Inertia ) oinertias Rigid Body Inertia supported by the joint expressed in the world frame. PINOCCHIO_ALIGNED_STD_VECTOR (Inertia ) oYcrb Composite Rigid Body Inertia expressed in the world frame. PINOCCHIO_ALIGNED_STD_VECTOR (Inertia ) Ycrb Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..PINOCCHIO_ALIGNED_STD_VECTOR (int) const raint_indPINOCCHIO_ALIGNED_STD_VECTOR (int) const raints_supported_dimPINOCCHIO_ALIGNED_STD_VECTOR (int) par_cons_indPINOCCHIO_ALIGNED_STD_VECTOR (JointData ) JointDataVectorPINOCCHIO_ALIGNED_STD_VECTOR (JointModel ) JointModelVectorPINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) B Combined variations of the inertia matrix PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) doYcrb Time variation of Composite Rigid Body Inertia expressed in the world frame. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) dYcrb Vector of sub-tree composite rigid body inertia time derivatives PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) extended_motion_propagator2PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Ivx Left variation of the inertia matrix. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oK Inverse articulated inertia. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oL Acceleration propagator. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oYaba Articulated Body Inertia matrix of the subtree expressed in the WORLD coordinate frame. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) spatial_inv_inertiaPINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) vxI Right variation of the inertia matrix. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Yaba Articulated Body Inertia matrix of the subtree expressed in the LOCAL coordinate frame of the joint. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x ) Fcrb Spatial forces set, used in CRBA and CCRBA. PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6x ) KAPINOCCHIO_ALIGNED_STD_VECTOR (MatrixXs) KASPINOCCHIO_ALIGNED_STD_VECTOR (MatrixXs) LAPINOCCHIO_ALIGNED_STD_VECTOR (Motion ) a Vector of joint accelerations expressed in the local frame of the joint.PINOCCHIO_ALIGNED_STD_VECTOR (Motion ) a_biasPINOCCHIO_ALIGNED_STD_VECTOR (Motion ) a_gf Vector of joint accelerations due to the gravity field.PINOCCHIO_ALIGNED_STD_VECTOR (Motion ) oa Vector of joint accelerations expressed at the origin of the world.PINOCCHIO_ALIGNED_STD_VECTOR (Motion ) oa_augmented Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms.PINOCCHIO_ALIGNED_STD_VECTOR (Motion ) oa_drift Vector of joint accelerations expressed at the origin of the world. These accelerations are used in the context of augmented Lagrangian algorithms.PINOCCHIO_ALIGNED_STD_VECTOR (Motion ) oa_gf Vector of joint accelerations expressed at the origin of the world including the gravity contribution.PINOCCHIO_ALIGNED_STD_VECTOR (Motion ) ov Vector of joint velocities expressed at the origin of the world.PINOCCHIO_ALIGNED_STD_VECTOR (Motion ) v Vector of joint velocities expressed in the local frame of the joint.PINOCCHIO_ALIGNED_STD_VECTOR (SE3 ) iMf Vector of joint placements wrt to algorithm end effector.PINOCCHIO_ALIGNED_STD_VECTOR (SE3 ) liMi Vector of relative joint placements (wrt the body parent).PINOCCHIO_ALIGNED_STD_VECTOR (SE3 ) oMf Vector of absolute operationnel frame placements (wrt the world).PINOCCHIO_ALIGNED_STD_VECTOR (SE3 ) oMi Vector of absolute joint placements (wrt the world).PINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_ancestorPINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_descendantPINOCCHIO_ALIGNED_STD_VECTOR (size_t) accumulation_jointsPINOCCHIO_ALIGNED_STD_VECTOR (size_t) joints_supporting_constraintsPINOCCHIO_ALIGNED_STD_VECTOR (std::set< size_t >) const raints_supportedPINOCCHIO_ALIGNED_STD_VECTOR (std::vector< size_t >) const raints_on_jointPINOCCHIO_ALIGNED_STD_VECTOR (Vector3) acom Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) com Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) vcom Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint PINOCCHIO_ALIGNED_STD_VECTOR (VectorXs) lAPINOCCHIO_ALIGNED_STD_VECTOR (VectorXs) lambdaAvoid loadFromBinary (const std::string &filename) Loads a Derived object from an binary file. void loadFromString (const std::string &str) Loads a Derived object from a string. void loadFromStringStream (std::istringstream &is) Loads a Derived object from a stream string. void loadFromText (const std::string &filename) Loads a Derived object from a text file. void loadFromXML (const std::string &filename, const std::string &tag_name) Loads a Derived object from an XML file. void saveToBinary (const std::string &filename) const Saves a Derived object as an binary file. std::string saveToString () const Saves a Derived object to a string. void saveToStringStream (std::stringstream &ss) const Saves a Derived object to a string stream. void saveToText (const std::string &filename) const Saves a Derived object as a text file. void saveToXML (const std::string &filename, const std::string &tag_name) const Saves a Derived object as an XML file.
Matrix6x Ag Centroidal Momentum Matrix . BodyRegressorType bodyRegressor Body regressor. MatrixXs C The Coriolis matrix (a square matrix of dim model.nv). ContactCholeskyDecomposition contact_chol Cholesky decomposition of the KKT contact matrix. PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef ContactCholeskyDecompositionTpl < Scalar, Options > ContactCholeskyDecomposition VectorXs D Diagonal of the joint space inertia matrix obtained by a Cholesky Decomposition. Tensor3x d2tau_dadq SO Cross-Partial derivative of the joint torque vector with respect to the joint acceleration/configuration. This also equals to the first-order partial derivative of the Mass Matrix w.r.t joint configuration. Tensor3x d2tau_dqdq SO Partial derivative of the joint torque vector with respect to the joint configuration. Tensor3x d2tau_dqdv SO Cross-Partial derivative of the joint torque vector with respect to the joint configuration/velocity. Tensor3x d2tau_dvdv SO Partial derivative of the joint torque vector with respect to the joint velocity. MatrixXs dac_da MatrixXs dac_dq MatrixXs dac_dv Matrix6x dAdq Variation of the spatial acceleration set with respect to the joint configuration. Matrix6x dAdv Variation of the spatial acceleration set with respect to the joint velocity. Matrix6x dAg Centroidal Momentum Matrix Time Variation. Matrix6x ddJ Second derivative of the Jacobian with respect to the time. TangentVectorType ddq The joint accelerations computed from ABA. RowMatrixXs ddq_dq Partial derivative of the joint acceleration vector with respect to the joint configuration. RowMatrixXs ddq_dtau Partial derivative of the joint acceleration vector with respect to the joint torques. RowMatrixXs ddq_dv Partial derivative of the joint acceleration vector with respect to the joint velocity. Matrix6x dFda Variation of the forceset with respect to the joint acceleration. Matrix6x dFdq Variation of the forceset with respect to the joint configuration. Matrix6x dFdv Variation of the forceset with respect to the joint velocity. Matrix6x dHdq Variation of the spatial momenta set with respect to the joint configuration. Force dhg Centroidal momentum time derivative. VectorXs diff_lambda_c Difference between two consecutive iterations of the proxy algorithm. VectorXs Dinv Diagonal inverse of the joint space inertia matrix obtained by a Cholesky Decomposition. Matrix6x dJ Derivative of the Jacobian with respect to the time. MatrixXs dlambda_dq Partial derivatives of the constraints forces with respect to the joint configuration, velocity and torque;. MatrixXs dlambda_dtau MatrixXs dlambda_dv MatrixXs dlambda_dx_prox TangentVectorType dq_after Generalized velocity after impact. MatrixXs drhs_prox RowMatrixXs dtau_dq Partial derivative of the joint torque vector with respect to the joint configuration. RowMatrixXs dtau_dv Partial derivative of the joint torque vector with respect to the joint velocity. MatrixXs dvc_dq Stack of partial derivative of the contact frame acceleration with respect to the joint parameters. Matrix6x dVdq Variation of the spatial velocity set with respect to the joint configuration. std::vector< int > end_idx_v_fromRow End index of the Joint motion subspace. extended_motion_propagator VectorXs g Vector of generalized gravity (dim model.nv).Force hg Centroidal momentum quantity. std::vector< int > idx_vExtended_to_idx_v_fromRow Extended model mapping of the joint rows (idx_vExtended_to_idx_v_fromRow[idx_vExtended] = idx_v) Inertia Ig Centroidal Composite Rigid Body Inertia. VectorXs impulse_c Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics . Matrix6x IS Used in computeMinverse. Matrix6 Itmp Temporary for derivative algorithms. Matrix6x J Jacobian of joint placements. Matrix3x Jcom Jacobian of center of mass. MatrixXs JMinvJt Inverse of the operational-space inertia matrix. PINOCCHIO_COMPILER_DIAGNOSTIC_POP JointDataVector joints Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, encapsulated in JointDataAccessor.MatrixXs jointTorqueRegressor Matrix related to joint torque regressor.Tensor3x kinematic_hessians Tensor containing the kinematic Hessian of all the joints.Scalar kinetic_energy Kinetic energy of the system. RowVectorXs kineticEnergyRegressor Matrix related to kinetic energy regressor.VectorXs lambda_c Lagrange Multipliers corresponding to the contact forces in pinocchio::forwardDynamics . VectorXs lambda_c_prox Proximal Lagrange Multipliers used in the computation of the Forward Dynamics computations. std::vector< int > lastChild Index of the last child (for CRBA) Eigen::LLT< MatrixXs > llt_JMinvJt Cholesky decompostion of MatrixXs M The joint space inertia matrix (a square matrix of dim model.nv). Matrix6 M6tmp Temporary for derivative algorithms. RowMatrix6 M6tmpR RowMatrix6 M6tmpR2 std::vector< Scalar > mass Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint Scalar mechanical_energy Mechanical energy of the system. std::vector< int > mimic_parents_fromRow First previous non-zero row belonging to a mimic joint in M (used in Jacobian). std::vector< JointIndex > mimic_subtree_joint Store the index of the first non mimic child of each mimic joint (for CRBA). Store 0 if there is no non mimic child. RowMatrixXs Minv The inverse of the joint space inertia matrix (a square matrix of dim model.nv). VectorXs nle Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.std::vector< int > non_mimic_parents_fromRow First previous non-zero row belonging to a non mimic joint in M (used in Jacobian). std::vector< int > nvSubtree Dimension of the subtree motion space (for CRBA) std::vector< int > nvSubtree_fromRow Subtree of the current row index (used in Cholesky Decomposition). MatrixXs osim Operational space inertia matrix;. Eigen::LLT< MatrixXs > osim_llt oYaba_contact Articulated Body Inertia matrix with contact apparent inertia, of a given the subtree and expressed in the WORLD coordinate frame. std::vector< int > parents_fromRow First previous non-zero row in M (used in Cholesky Decomposition). Scalar potential_energy Potential energy of the system. RowVectorXs potentialEnergyRegressor Matrix related to potential energy regressor.VectorXs primal_dual_contact_solution RHS vector when solving the contact dynamics KKT problem. VectorXs primal_rhs_contact Primal RHS in contact dynamic equations. Matrix6x psid psidot Derivative of Jacobian w.r.t to the parent body moving v(p(j)) x Sj Matrix6x psidd psiddot Second Derivative of Jacobian w.r.t to the parent body moving a(p(j)) x Sj + v(p(j)) x psidj Matrix6x SDinv Used in computeMinverse. MatrixXs sDUiJt Temporary corresponding to std::vector< int > start_idx_v_fromRow Starting index of the Joint motion subspace. Matrix3x staticRegressor Matrix related to static regressor.std::vector< std::vector< int > > supports_fromRow Each element of this vector corresponds to the ordered list of indexes belonging to the supporting tree of the given index at the row level. It may be helpful to retrieve the sparsity pattern through it. TangentVectorType tau Vector of joint torques (dim model.nv).VectorXs tmp Temporary of size NV used in Cholesky Decomposition. VectorXs torque_residual Temporary corresponding to the residual torque MatrixXs U Joint space inertia matrix square root (upper triangular part) computed with a Cholesky Decomposition. TangentVectorType u Intermediate quantity corresponding to apparent torque [ABA]. Matrix6x UDinv Used in computeMinverse.
template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
Definition at line 40 of file data.hpp .
![$ B_i = \frac{1}{2} [(v_i\times∗)I_i +
(I_i v_i)\times^{∗} − I_i(v_i\times)] $](form_363_dark.svg)
1.14.0
