The tangent bundle of a multibody configuration group.
const ModelType & getModel() const
MultibodyFreeFwdDataTpl(const MultibodyFreeFwdDynamicsTpl< Scalar > *cont_dyn)
ContinuousDynamicsDataTpl< Scalar > Base
pinocchio::DataTpl< Scalar > PinDataType
typename math_types< Scalar >::MatrixXs MatrixXs
typename math_types< Scalar >::VectorXs VectorXs
Free-space multibody forward dynamics, using Pinocchio.
virtual void forward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
Evaluate the ODE vector field: this returns the value of .
ContinuousDynamicsDataTpl< Scalar > ContDataAbstract
xyz::polymorphic< Manifold > PolyManifold
ODEAbstractTpl< Scalar > Base
MultibodyFreeFwdDynamicsTpl(const Manifold &state)
const Manifold & space() const
MultibodyPhaseSpace< Scalar > Manifold
MultibodyFreeFwdDataTpl< Scalar > Data
virtual void dForward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
Evaluate the vector field Jacobians.
ContinuousDynamicsDataTpl< Scalar > BaseData
MultibodyFreeFwdDynamicsTpl(const Manifold &state, const MatrixXs &actuation)
shared_ptr< ContDataAbstract > createData() const
Create a data holder instance.
bool isUnderactuated() const
Determine whether the system is underactuated.
Eigen::Index getActuationMatrixRank() const