/// \brief The type of Tensor for Kinematics and Dynamics second order derivatives
typedefEigen::Tensor<Scalar,3,Options>Tensor3;
/// \brief Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model,
/// encapsulated in JointDataAccessor.
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@@ -309,7 +313,6 @@ namespace pinocchio
/// \note This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertial frame. In other words, \f$ v_{\text{CoM}} = J_{\text{CoM}} \dot{q}\f$.
Matrix3xJcom;
/// \brief Kinetic energy of the model.
Scalarkinetic_energy;
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@@ -339,15 +342,18 @@ namespace pinocchio
/// \brief Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.
VectorXsimpulse_c;
// Matrix related to static regressor
/// \brief Matrix related to static regressor
Matrix3xstaticRegressor;
// Body regressor
/// \brief Body regressor
BodyRegressorTypebodyRegressor;
// Matrix related to joint torque regressor
/// \brief Matrix related to joint torque regressor
MatrixXsjointTorqueRegressor;
/// \brief Tensor containing the kinematic Hessian of all the joints.
Tensor3kinematic_hessians;
///
/// \brief Default constructor of pinocchio::Data from a pinocchio::Model.