/// \brief Specialization of an std::vector with an aligned allocator. This specialization might be used when the type T is or contains some Eigen members.
/// \brief Vector of joint accelerations expressed at the centers of the joints frames.
container::aligned_vector<Motion>a;
PINOCCHIO_ALIGNED_STD_VECTOR(Motion)a;
/// \brief Vector of joint accelerations expressed at the origin of the world.
container::aligned_vector<Motion>oa;
PINOCCHIO_ALIGNED_STD_VECTOR(Motion)oa;
/// \brief Vector of joint accelerations due to the gravity field.
container::aligned_vector<Motion>a_gf;
PINOCCHIO_ALIGNED_STD_VECTOR(Motion)a_gf;
/// \brief Vector of joint accelerations expressed at the origin of the world including gravity contribution.
container::aligned_vector<Motion>oa_gf;
PINOCCHIO_ALIGNED_STD_VECTOR(Motion)oa_gf;
/// \brief Vector of joint velocities expressed at the centers of the joints.
container::aligned_vector<Motion>v;
PINOCCHIO_ALIGNED_STD_VECTOR(Motion)v;
/// \brief Vector of joint velocities expressed at the origin.
container::aligned_vector<Motion>ov;
PINOCCHIO_ALIGNED_STD_VECTOR(Motion)ov;
/// \brief Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of
/// all external forces acting on the body.
container::aligned_vector<Force>f;
PINOCCHIO_ALIGNED_STD_VECTOR(Force)f;
/// \brief Vector of body forces expressed in the world frame. For each body, the force represents the sum of
/// all external forces acting on the body.
container::aligned_vector<Force>of;
PINOCCHIO_ALIGNED_STD_VECTOR(Force)of;
/// \brief Vector of spatial momenta expressed in the local frame of the joint.
container::aligned_vector<Force>h;
PINOCCHIO_ALIGNED_STD_VECTOR(Force)h;
/// \brief Vector of spatial momenta expressed in the world frame.
container::aligned_vector<Force>oh;
PINOCCHIO_ALIGNED_STD_VECTOR(Force)oh;
/// \brief Vector of absolute joint placements (wrt the world).
container::aligned_vector<SE3>oMi;
PINOCCHIO_ALIGNED_STD_VECTOR(SE3)oMi;
/// \brief Vector of relative joint placements (wrt the body parent).
container::aligned_vector<SE3>liMi;
PINOCCHIO_ALIGNED_STD_VECTOR(SE3)liMi;
/// \brief Vector of joint torques (dim model.nv).
TangentVectorTypetau;
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@@ -138,14 +138,14 @@ namespace pinocchio
VectorXsg;
/// \brief Vector of absolute operationnel frame placements (wrt the world).
container::aligned_vector<SE3>oMf;
PINOCCHIO_ALIGNED_STD_VECTOR(SE3)oMf;
/// \brief Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint
/// and expressed in the local frame of the joint..
container::aligned_vector<Inertia>Ycrb;
PINOCCHIO_ALIGNED_STD_VECTOR(Inertia)Ycrb;
/// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}\f$. See Data::Ycrb for more details.
container::aligned_vector<Matrix6>dYcrb;// TODO: change with dense symmetric matrix6
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6)dYcrb;// TODO: change with dense symmetric matrix6
/// \brief The joint space inertia matrix (a square matrix of dim model.nv).
MatrixXsM;
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@@ -178,16 +178,16 @@ namespace pinocchio
Matrix6xIS;
/// \brief Right variation of the inertia matrix
container::aligned_vector<Matrix6>vxI;
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6)vxI;
/// \brief Left variation of the inertia matrix
container::aligned_vector<Matrix6>Ivx;
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6)Ivx;
/// \brief Inertia quantities expressed in the world frame
container::aligned_vector<Inertia>oYcrb;
PINOCCHIO_ALIGNED_STD_VECTOR(Inertia)oYcrb;
/// \brief Time variation of the inertia quantities expressed in the world frame
container::aligned_vector<Matrix6>doYcrb;
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6)doYcrb;
/// \brief Temporary for derivative algorithms
Matrix6Itmp;
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@@ -202,7 +202,7 @@ namespace pinocchio
// ABA internal data
/// \brief Inertia matrix of the subtree expressed as dense matrix [ABA]
container::aligned_vector<Matrix6>Yaba;// TODO: change with dense symmetric matrix6
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6)Yaba;// TODO: change with dense symmetric matrix6
/// \brief Intermediate quantity corresponding to apparent torque [ABA]
TangentVectorTypeu;// Joint Inertia
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@@ -234,7 +234,7 @@ namespace pinocchio
InertiaIg;
/// \brief Spatial forces set, used in CRBA and CCRBA
container::aligned_vector<Matrix6x>Fcrb;
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6x)Fcrb;
/// \brief Index of the last child (for CRBA)
std::vector<int>lastChild;
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@@ -299,16 +299,16 @@ namespace pinocchio
MatrixXsddq_dv;
/// \brief Vector of joint placements wrt to algorithm end effector.
container::aligned_vector<SE3>iMf;
PINOCCHIO_ALIGNED_STD_VECTOR(SE3)iMf;
/// \brief Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint \f$ j \f$ and expressed in the joint frame \f$ j \f$. The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.
container::aligned_vector<Vector3>com;
PINOCCHIO_ALIGNED_STD_VECTOR(Vector3)com;
/// \brief Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint \f$ j \f$ and expressed in the joint frame \f$ j \f$. The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.
container::aligned_vector<Vector3>vcom;
PINOCCHIO_ALIGNED_STD_VECTOR(Vector3)vcom;
/// \brief Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint \f$ j \f$ and expressed in the joint frame \f$ j \f$. The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.
container::aligned_vector<Vector3>acom;
PINOCCHIO_ALIGNED_STD_VECTOR(Vector3)acom;
/// \brief Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \f$ j \f$. The element mass[0] corresponds to the total mass of the model.