#include <python/algorithms.hpp>
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 () |
typedef eigenpy::UnalignedEquivalent<Eigen::MatrixXd>::type se3::python::AlgorithmsPythonVisitor::MatrixXd_fx |
typedef eigenpy::UnalignedEquivalent<Eigen::VectorXd>::type se3::python::AlgorithmsPythonVisitor::VectorXd_fx |
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 void se3::python::AlgorithmsPythonVisitor::expose | ( | ) | [inline, static] |
References aba_proxy(), ccrba_proxy(), com_0_proxy(), com_1_proxy(), com_2_proxy(), compute_jacobians_proxy(), computeAllTerms_proxy(), crba_proxy(), differentiate_proxy(), distance_proxy(), fd_llt_proxy(), fk_0_proxy(), fk_1_proxy(), fk_2_proxy(), frame_jacobian_proxy(), frames_fk_0_proxy(), id_llt_proxy(), integrate_proxy(), interpolate_proxy(), jacobian_proxy(), Jcom_proxy(), kineticEnergy_proxy(), nle_proxy(), potentialEnergy_proxy(), randomConfiguration_proxy(), and rnea_proxy().
Referenced by se3::python::exposeAlgorithms().
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().