#include <Eigen/StdVector>
#include <boost/variant.hpp>
#include "pinocchio/multibody/joint/joint-variant.hpp"
#include "pinocchio/multibody/joint/joint-basic-visitors.hxx"
Namespaces | |
namespace | se3 |
Functions | |
JointDataVariant | se3::createData (const JointModelVariant &jmodel) |
Visit a JointModelVariant through CreateData visitor to create a JointDataVariant. | |
void | se3::calc_zero_order (const JointModelVariant &jmodel, JointDataVariant &jdata, const Eigen::VectorXd &q) |
Visit a JointDataVariant and the corresponding JointModelVariant through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero. | |
void | se3::calc_first_order (const JointModelVariant &jmodel, JointDataVariant &jdata, const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
Visit a JointDataVariant and the corresponding JointModelVariant through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one. | |
void | se3::calc_aba (const JointModelVariant &jmodel, JointDataVariant &jdata, Inertia::Matrix6 &I, const bool update_I) |
Visit a JointDataVariant and the corresponding JointModelVariant through JointCalcAbaVisitor to. | |
Eigen::VectorXd | se3::integrate (const JointModelVariant &jmodel, const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
Visit a JointModelVariant through JointIntegrateVisitor to integrate joint's configuration for a tangent vector during one unit time. | |
Eigen::VectorXd | se3::interpolate (const JointModelVariant &jmodel, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, const double u) |
Visit a JointModelVariant through JointInterpolateVisitor to compute the interpolation between two joint's configurations. | |
Eigen::VectorXd | se3::randomConfiguration (const JointModelVariant &jmodel, const Eigen::VectorXd &lower_pos_limit, const Eigen::VectorXd &upper_pos_limit) |
Visit a JointModelVariant through JointRandomConfigurationVisitor to generate a configuration vector uniformly sampled among provided limits. | |
Eigen::VectorXd | se3::difference (const JointModelVariant &jmodel, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) |
Visit a JointModelVariant through JointDifferenceVisitor to compute the tangent vector that must be integrated during one unit time to go from q0 to q1. | |
double | se3::distance (const JointModelVariant &jmodel, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) |
Visit a JointModelVariant through JointDifferenceVisitor to compute the distance between two configurations. | |
int | se3::nv (const JointModelVariant &jmodel) |
Visit a JointModelVariant through JointNvVisitor to get the dimension of the joint tangent space. | |
int | se3::nq (const JointModelVariant &jmodel) |
Visit a JointModelVariant through JointNqVisitor to get the dimension of the joint configuration space. | |
int | se3::idx_q (const JointModelVariant &jmodel) |
Visit a JointModelVariant through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint. | |
int | se3::idx_v (const JointModelVariant &jmodel) |
Visit a JointModelVariant through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree. | |
JointIndex | se3::id (const JointModelVariant &jmodel) |
Visit a JointModelVariant through JointIdVisitor to get the index of the joint in the kinematic chain. | |
void | se3::setIndexes (JointModelVariant &jmodel, JointIndex id, int q, int v) |
Visit a JointModelVariant through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain. | |
ConstraintXd | se3::constraint_xd (const JointDataVariant &jdata) |
Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint. | |
SE3 | se3::joint_transform (const JointDataVariant &jdata) |
Visit a JointDataVariant through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint) | |
Motion | se3::motion (const JointDataVariant &jdata) |
Visit a JointDataVariant through JointMotionVisitor to get the joint internal motion as a dense motion. | |
Motion | se3::bias (const JointDataVariant &jdata) |
Visit a JointDataVariant through JointBiasVisitor to get the joint bias as a dense motion. | |
Eigen::Matrix< double, 6, Eigen::Dynamic > | se3::u_inertia (const JointDataVariant &jdata) |
Visit a JointDataVariant through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition. | |
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > | se3::dinv_inertia (const JointDataVariant &jdata) |
Visit a JointDataVariant through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition. | |
Eigen::Matrix< double, 6, Eigen::Dynamic > | se3::udinv_inertia (const JointDataVariant &jdata) |
Visit a JointDataVariant through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition. |