5 #ifndef __pinocchio_kinematics_hpp__
6 #define __pinocchio_kinematics_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
26 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
28 DataTpl<Scalar,Options,JointCollectionTpl> & data);
40 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
41 inline void forwardKinematics(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
42 DataTpl<Scalar,Options,JointCollectionTpl> & data,
43 const Eigen::MatrixBase<ConfigVectorType> & q);
57 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
58 inline void forwardKinematics(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
59 DataTpl<Scalar,Options,JointCollectionTpl> & data,
60 const Eigen::MatrixBase<ConfigVectorType> & q,
61 const Eigen::MatrixBase<TangentVectorType> & v);
76 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
77 inline void forwardKinematics(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
78 DataTpl<Scalar,Options,JointCollectionTpl> & data,
79 const Eigen::MatrixBase<ConfigVectorType> & q,
80 const Eigen::MatrixBase<TangentVectorType1> & v,
81 const Eigen::MatrixBase<TangentVectorType2> & a);
96 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
97 inline MotionTpl<Scalar, Options>
98 getVelocity(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
99 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
100 const JointIndex jointId,
116 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
117 inline MotionTpl<Scalar, Options>
118 getAcceleration(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
119 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
120 const JointIndex jointId,
137 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
138 inline MotionTpl<Scalar, Options>
140 const DataTpl<Scalar,Options,JointCollectionTpl> & data,
141 const JointIndex jointId,
149 #include "pinocchio/algorithm/kinematics.hxx"
152 #endif // ifndef __pinocchio_kinematics_hpp__