se3::python::AlgorithmsPythonVisitor Struct Reference

#include <python/algorithms.hpp>

List of all members.

Public Types

typedef
eigenpy::UnalignedEquivalent
< Eigen::VectorXd >::type 
VectorXd_fx
typedef
eigenpy::UnalignedEquivalent
< Eigen::MatrixXd >::type 
MatrixXd_fx

Static Public Member Functions

static Eigen::VectorXd rnea_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v, const VectorXd_fx &a)
static Eigen::VectorXd nle_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v)
static Eigen::MatrixXd crba_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q)
static Data::Matrix6x ccrba_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v)
static Eigen::MatrixXd aba_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v, const VectorXd_fx &tau)
static Eigen::MatrixXd fd_llt_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v, const VectorXd_fx &tau, const eigenpy::MatrixXd_fx &J, const VectorXd_fx &gamma, const bool update_kinematics=true)
static Eigen::MatrixXd id_llt_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v_before, const eigenpy::MatrixXd_fx &J, const double r_coeff, const bool update_kinematics=true)
static SE3::Vector3 com_0_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const bool updateKinematics=true)
static SE3::Vector3 com_1_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v, const bool updateKinematics=true)
static SE3::Vector3 com_2_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v, const VectorXd_fx &a, const bool updateKinematics=true)
static Data::Matrix3x Jcom_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q)
static Data::Matrix6x jacobian_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, Model::JointIndex jointId, bool local, bool update_geometry)
static Data::Matrix6x frame_jacobian_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, Model::FrameIndex frame_id, bool local, bool update_geometry)
static void compute_jacobians_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q)
static void fk_0_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q)
static void fk_1_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &qdot)
static void frames_fk_0_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q)
static void fk_2_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v, const VectorXd_fx &a)
static void computeAllTerms_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v)
static double kineticEnergy_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const VectorXd_fx &v, const bool update_kinematics=true)
static double potentialEnergy_proxy (const ModelHandler &model, DataHandler &data, const VectorXd_fx &q, const bool update_kinematics=true)
static Eigen::VectorXd integrate_proxy (const ModelHandler &model, const VectorXd_fx &q, const VectorXd_fx &v)
static Eigen::VectorXd interpolate_proxy (const ModelHandler &model, const VectorXd_fx &q1, const VectorXd_fx &q2, const double u)
static Eigen::VectorXd differentiate_proxy (const ModelHandler &model, const VectorXd_fx &q1, const VectorXd_fx &q2)
static Eigen::VectorXd distance_proxy (const ModelHandler &model, const VectorXd_fx &q1, const VectorXd_fx &q2)
static Eigen::VectorXd randomConfiguration_proxy (const ModelHandler &model, const VectorXd_fx &lowerPosLimit, const VectorXd_fx &upperPosLimit)
static void expose ()

Member Typedef Documentation

typedef eigenpy::UnalignedEquivalent<Eigen::MatrixXd>::type se3::python::AlgorithmsPythonVisitor::MatrixXd_fx
typedef eigenpy::UnalignedEquivalent<Eigen::VectorXd>::type se3::python::AlgorithmsPythonVisitor::VectorXd_fx

Member Function Documentation

static Eigen::MatrixXd se3::python::AlgorithmsPythonVisitor::aba_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v,
const VectorXd_fx tau 
) [inline, static]

References se3::aba().

Referenced by expose().

static Data::Matrix6x se3::python::AlgorithmsPythonVisitor::ccrba_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v 
) [inline, static]

References se3::ccrba().

Referenced by expose().

static SE3::Vector3 se3::python::AlgorithmsPythonVisitor::com_0_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const bool  updateKinematics = true 
) [inline, static]

References se3::centerOfMass().

Referenced by expose().

static SE3::Vector3 se3::python::AlgorithmsPythonVisitor::com_1_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v,
const bool  updateKinematics = true 
) [inline, static]

References se3::centerOfMass().

Referenced by expose().

static SE3::Vector3 se3::python::AlgorithmsPythonVisitor::com_2_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v,
const VectorXd_fx a,
const bool  updateKinematics = true 
) [inline, static]

References se3::centerOfMass().

Referenced by expose().

static void se3::python::AlgorithmsPythonVisitor::compute_jacobians_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q 
) [inline, static]

References se3::computeJacobians().

Referenced by expose().

static void se3::python::AlgorithmsPythonVisitor::computeAllTerms_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v 
) [inline, static]

References se3::computeAllTerms().

Referenced by expose().

static Eigen::MatrixXd se3::python::AlgorithmsPythonVisitor::crba_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q 
) [inline, static]

References se3::crba().

Referenced by expose().

static Eigen::VectorXd se3::python::AlgorithmsPythonVisitor::differentiate_proxy ( const ModelHandler model,
const VectorXd_fx q1,
const VectorXd_fx q2 
) [inline, static]

References se3::differentiate().

Referenced by expose().

static Eigen::VectorXd se3::python::AlgorithmsPythonVisitor::distance_proxy ( const ModelHandler model,
const VectorXd_fx q1,
const VectorXd_fx q2 
) [inline, static]

References se3::distance().

Referenced by expose().

static Eigen::MatrixXd se3::python::AlgorithmsPythonVisitor::fd_llt_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v,
const VectorXd_fx tau,
const eigenpy::MatrixXd_fx &  J,
const VectorXd_fx gamma,
const bool  update_kinematics = true 
) [inline, static]

References se3::forwardDynamics().

Referenced by expose().

static void se3::python::AlgorithmsPythonVisitor::fk_0_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q 
) [inline, static]

References se3::forwardKinematics().

Referenced by expose().

static void se3::python::AlgorithmsPythonVisitor::fk_1_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx qdot 
) [inline, static]

References se3::forwardKinematics().

Referenced by expose().

static void se3::python::AlgorithmsPythonVisitor::fk_2_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v,
const VectorXd_fx a 
) [inline, static]

References se3::forwardKinematics().

Referenced by expose().

static Data::Matrix6x se3::python::AlgorithmsPythonVisitor::frame_jacobian_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
Model::FrameIndex  frame_id,
bool  local,
bool  update_geometry 
) [inline, static]

References se3::computeJacobians(), and se3::Data::Matrix6x.

Referenced by expose().

static void se3::python::AlgorithmsPythonVisitor::frames_fk_0_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q 
) [inline, static]

References se3::framesForwardKinematics().

Referenced by expose().

static Eigen::MatrixXd se3::python::AlgorithmsPythonVisitor::id_llt_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v_before,
const eigenpy::MatrixXd_fx &  J,
const double  r_coeff,
const bool  update_kinematics = true 
) [inline, static]

References se3::impulseDynamics().

Referenced by expose().

static Eigen::VectorXd se3::python::AlgorithmsPythonVisitor::integrate_proxy ( const ModelHandler model,
const VectorXd_fx q,
const VectorXd_fx v 
) [inline, static]

References se3::integrate().

Referenced by expose().

static Eigen::VectorXd se3::python::AlgorithmsPythonVisitor::interpolate_proxy ( const ModelHandler model,
const VectorXd_fx q1,
const VectorXd_fx q2,
const double  u 
) [inline, static]

References se3::interpolate().

Referenced by expose().

static Data::Matrix6x se3::python::AlgorithmsPythonVisitor::jacobian_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
Model::JointIndex  jointId,
bool  local,
bool  update_geometry 
) [inline, static]

References se3::computeJacobians(), and se3::Data::Matrix6x.

Referenced by expose().

static Data::Matrix3x se3::python::AlgorithmsPythonVisitor::Jcom_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q 
) [inline, static]

References se3::jacobianCenterOfMass().

Referenced by expose().

static double se3::python::AlgorithmsPythonVisitor::kineticEnergy_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v,
const bool  update_kinematics = true 
) [inline, static]

References se3::kineticEnergy().

Referenced by expose().

static Eigen::VectorXd se3::python::AlgorithmsPythonVisitor::nle_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v 
) [inline, static]

References se3::nonLinearEffects().

Referenced by expose().

static double se3::python::AlgorithmsPythonVisitor::potentialEnergy_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const bool  update_kinematics = true 
) [inline, static]

References se3::potentialEnergy().

Referenced by expose().

static Eigen::VectorXd se3::python::AlgorithmsPythonVisitor::randomConfiguration_proxy ( const ModelHandler model,
const VectorXd_fx lowerPosLimit,
const VectorXd_fx upperPosLimit 
) [inline, static]

References se3::randomConfiguration().

Referenced by expose().

static Eigen::VectorXd se3::python::AlgorithmsPythonVisitor::rnea_proxy ( const ModelHandler model,
DataHandler data,
const VectorXd_fx q,
const VectorXd_fx v,
const VectorXd_fx a 
) [inline, static]

References se3::rnea().

Referenced by expose().