utilities

Timer

class Timer

Public Functions

explicit Timer() noexcept

void tic() noexcept

template<typename Period = std::ratio<1>>
double toc() const noexcept

IO file and Directory

Warning

doxygenfunction: Unable to resolve function “jiminy::getUserDirectory” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 12] std::string JIMINY_DLLAPI getUserDirectory () ————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 26] std::string JIMINY_DLLAPI getUserDirectory () ————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 26] std::string JIMINY_DLLAPI getUserDirectory () ————————–^

Conversion from/to JSON

Warning

doxygenfunction: Unable to resolve function “jiminy::convertToJson” with arguments “(const GenericConfig&)”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 12] Json::Value JIMINY_DLLAPI convertToJson (const GenericConfig &value) ————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 26] Json::Value JIMINY_DLLAPI convertToJson (const GenericConfig &value) ————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 26] Json::Value JIMINY_DLLAPI convertToJson (const GenericConfig &value) ————————–^

Warning

doxygenfunction: Unable to resolve function “jiminy::convertFromJson” with arguments “(const Json::Value&)”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 14] GenericConfig JIMINY_DLLAPI convertFromJson (const Json::Value &value) ————–^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 28] GenericConfig JIMINY_DLLAPI convertFromJson (const Json::Value &value) —————————-^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 28] GenericConfig JIMINY_DLLAPI convertFromJson (const Json::Value &value) —————————-^

Geometry

Warning

doxygenfunction: Unable to resolve function “jiminy::sumHeightmaps” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 18] HeightmapFunction JIMINY_DLLAPI sumHeightmaps (const std::vector< HeightmapFunction > &heightmaps) ——————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 32] HeightmapFunction JIMINY_DLLAPI sumHeightmaps (const std::vector< HeightmapFunction > &heightmaps) ——————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 32] HeightmapFunction JIMINY_DLLAPI sumHeightmaps (const std::vector< HeightmapFunction > &heightmaps) ——————————–^

Warning

doxygenfunction: Unable to resolve function “jiminy::mergeHeightmaps” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 18] HeightmapFunction JIMINY_DLLAPI mergeHeightmaps (const std::vector< HeightmapFunction > &heightmaps) ——————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 32] HeightmapFunction JIMINY_DLLAPI mergeHeightmaps (const std::vector< HeightmapFunction > &heightmaps) ——————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 32] HeightmapFunction JIMINY_DLLAPI mergeHeightmaps (const std::vector< HeightmapFunction > &heightmaps) ——————————–^

Warning

doxygenfunction: Unable to resolve function “jiminy::discretizeHeightmap” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 33] hpp::fcl::CollisionGeometryPtr_t JIMINY_DLLAPI discretizeHeightmap (const HeightmapFunction &heightmap, double xMin, double xMax, double xUnit, double yMin, double yMax, double yUnit, bool mustSimplify=false) ———————————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 47] hpp::fcl::CollisionGeometryPtr_t JIMINY_DLLAPI discretizeHeightmap (const HeightmapFunction &heightmap, double xMin, double xMax, double xUnit, double yMin, double yMax, double yUnit, bool mustSimplify=false) ———————————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 47] hpp::fcl::CollisionGeometryPtr_t JIMINY_DLLAPI discretizeHeightmap (const HeightmapFunction &heightmap, double xMin, double xMax, double xUnit, double yMin, double yMax, double yUnit, bool mustSimplify=false) ———————————————–^

Random number generation

Warning

doxygenfunction: Unable to resolve function “jiminy::uniform” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expected identifier in nested name, got keyword: float [error at 5] float JIMINY_DLLAPI uniform (const uniform_random_bit_generator_ref< uint32_t > &g) —–^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 20] float JIMINY_DLLAPI uniform (const uniform_random_bit_generator_ref< uint32_t > &g) ——————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 20] float JIMINY_DLLAPI uniform (const uniform_random_bit_generator_ref< uint32_t > &g) ——————–^

Warning

doxygenfunction: Unable to resolve function “jiminy::normal” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expected identifier in nested name, got keyword: float [error at 5] float JIMINY_DLLAPI normal (const uniform_random_bit_generator_ref< uint32_t > &g, float mean=0.0F, float stddev=1.0F) —–^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 20] float JIMINY_DLLAPI normal (const uniform_random_bit_generator_ref< uint32_t > &g, float mean=0.0F, float stddev=1.0F) ——————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 20] float JIMINY_DLLAPI normal (const uniform_random_bit_generator_ref< uint32_t > &g, float mean=0.0F, float stddev=1.0F) ——————–^

Warning

doxygenfunction: Unable to resolve function “jiminy::tiles” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 18] HeightmapFunction JIMINY_DLLAPI tiles (const Eigen::Vector2d &size, double heightMax, const Eigen::Vector2d &interpDelta, uint32_t sparsity, double orientation, uint32_t seed) ——————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 32] HeightmapFunction JIMINY_DLLAPI tiles (const Eigen::Vector2d &size, double heightMax, const Eigen::Vector2d &interpDelta, uint32_t sparsity, double orientation, uint32_t seed) ——————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 32] HeightmapFunction JIMINY_DLLAPI tiles (const Eigen::Vector2d &size, double heightMax, const Eigen::Vector2d &interpDelta, uint32_t sparsity, double orientation, uint32_t seed) ——————————–^

Telemetry

Warning

doxygenfunction: Unable to resolve function “jiminy::getLogVariable” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 16] Eigen::VectorXd JIMINY_DLLAPI getLogVariable (const LogData &logData, const std::string &fieldname) —————-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 30] Eigen::VectorXd JIMINY_DLLAPI getLogVariable (const LogData &logData, const std::string &fieldname) ——————————^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 30] Eigen::VectorXd JIMINY_DLLAPI getLogVariable (const LogData &logData, const std::string &fieldname) ——————————^

Pinocchio

Warning

doxygenfunction: Unable to resolve function “jiminy::getJointNameFromPositionIndex” with arguments “(pinocchio::Model const&, int32_t const&, std::string&)”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 12] std::string JIMINY_DLLAPI getJointNameFromPositionIndex (const pinocchio::Model &model, pinocchio::JointIndex jointPositionIndex) ————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 26] std::string JIMINY_DLLAPI getJointNameFromPositionIndex (const pinocchio::Model &model, pinocchio::JointIndex jointPositionIndex) ————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 26] std::string JIMINY_DLLAPI getJointNameFromPositionIndex (const pinocchio::Model &model, pinocchio::JointIndex jointPositionIndex) ————————–^

Warning

doxygenfunction: Unable to resolve function “jiminy::getJointNameFromVelocityIndex” with arguments “(pinocchio::Model const&, int32_t const&, std::string&)”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 12] std::string JIMINY_DLLAPI getJointNameFromVelocityIndex (const pinocchio::Model &model, pinocchio::JointIndex jointVelocityIndex) ————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 26] std::string JIMINY_DLLAPI getJointNameFromVelocityIndex (const pinocchio::Model &model, pinocchio::JointIndex jointVelocityIndex) ————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 26] std::string JIMINY_DLLAPI getJointNameFromVelocityIndex (const pinocchio::Model &model, pinocchio::JointIndex jointVelocityIndex) ————————–^

Warning

doxygenfunction: Unable to resolve function “jiminy::getJointTypeFromIndex” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 15] JointModelType JIMINY_DLLAPI getJointTypeFromIndex (const pinocchio::Model &model, pinocchio::JointIndex jointIndex) —————^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 29] JointModelType JIMINY_DLLAPI getJointTypeFromIndex (const pinocchio::Model &model, pinocchio::JointIndex jointIndex) —————————–^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 29] JointModelType JIMINY_DLLAPI getJointTypeFromIndex (const pinocchio::Model &model, pinocchio::JointIndex jointIndex) —————————–^

std::vector<std::string_view> jiminy::getJointTypePositionSuffixes(JointModelType jointType)

std::vector<std::string_view> jiminy::getJointTypeVelocitySuffixes(JointModelType jointType)

Warning

doxygenfunction: Unable to resolve function “jiminy::getFrameIndex” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 22] pinocchio::FrameIndex JIMINY_DLLAPI getFrameIndex (const pinocchio::Model &model, const std::string &frameName, pinocchio::FrameType frameType=static_cast< pinocchio::FrameType >(pinocchio::JOINT|pinocchio::FIXED_JOINT|pinocchio::BODY|pinocchio::OP_FRAME|pinocchio::SENSOR)) ———————-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 36] pinocchio::FrameIndex JIMINY_DLLAPI getFrameIndex (const pinocchio::Model &model, const std::string &frameName, pinocchio::FrameType frameType=static_cast< pinocchio::FrameType >(pinocchio::JOINT|pinocchio::FIXED_JOINT|pinocchio::BODY|pinocchio::OP_FRAME|pinocchio::SENSOR)) ————————————^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 36] pinocchio::FrameIndex JIMINY_DLLAPI getFrameIndex (const pinocchio::Model &model, const std::string &frameName, pinocchio::FrameType frameType=static_cast< pinocchio::FrameType >(pinocchio::JOINT|pinocchio::FIXED_JOINT|pinocchio::BODY|pinocchio::OP_FRAME|pinocchio::SENSOR)) ————————————^

Warning

doxygenfunction: Unable to resolve function “jiminy::getFrameIndices” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 37] std::vector< pinocchio::FrameIndex > JIMINY_DLLAPI getFrameIndices (const pinocchio::Model &model, const std::vector< std::string > &frameNames) ————————————-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 51] std::vector< pinocchio::FrameIndex > JIMINY_DLLAPI getFrameIndices (const pinocchio::Model &model, const std::vector< std::string > &frameNames) —————————————————^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 51] std::vector< pinocchio::FrameIndex > JIMINY_DLLAPI getFrameIndices (const pinocchio::Model &model, const std::vector< std::string > &frameNames) —————————————————^

Warning

doxygenfunction: Unable to resolve function “jiminy::getJointIndex” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 22] pinocchio::JointIndex JIMINY_DLLAPI getJointIndex (const pinocchio::Model &model, const std::string &jointName) ———————-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 36] pinocchio::JointIndex JIMINY_DLLAPI getJointIndex (const pinocchio::Model &model, const std::string &jointName) ————————————^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 36] pinocchio::JointIndex JIMINY_DLLAPI getJointIndex (const pinocchio::Model &model, const std::string &jointName) ————————————^

Warning

doxygenfunction: Unable to resolve function “jiminy::getJointIndices” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 37] std::vector< pinocchio::JointIndex > JIMINY_DLLAPI getJointIndices (const pinocchio::Model &model, const std::vector< std::string > &jointNames) ————————————-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 51] std::vector< pinocchio::JointIndex > JIMINY_DLLAPI getJointIndices (const pinocchio::Model &model, const std::vector< std::string > &jointNames) —————————————————^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 51] std::vector< pinocchio::JointIndex > JIMINY_DLLAPI getJointIndices (const pinocchio::Model &model, const std::vector< std::string > &jointNames) —————————————————^

Warning

doxygenfunction: Cannot find function “jiminy::getJointPositionIndex” in doxygen xml output for project “jiminy” from directory: /home/runner/work/jiminy/jiminy/build/doxygen/xml

Warning

doxygenfunction: Unable to resolve function “jiminy::getJointsPositionIndices” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 28] std::vector< Eigen::Index > JIMINY_DLLAPI getJointsPositionIndices (const pinocchio::Model &model, const std::vector< std::string > &jointNames, bool onlyFirstIndex=false) —————————-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 42] std::vector< Eigen::Index > JIMINY_DLLAPI getJointsPositionIndices (const pinocchio::Model &model, const std::vector< std::string > &jointNames, bool onlyFirstIndex=false) ——————————————^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 42] std::vector< Eigen::Index > JIMINY_DLLAPI getJointsPositionIndices (const pinocchio::Model &model, const std::vector< std::string > &jointNames, bool onlyFirstIndex=false) ——————————————^

Warning

doxygenfunction: Cannot find function “jiminy::getJointVelocityIndex” in doxygen xml output for project “jiminy” from directory: /home/runner/work/jiminy/jiminy/build/doxygen/xml

Warning

doxygenfunction: Unable to resolve function “jiminy::getJointVelocityIndices” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 28] std::vector< Eigen::Index > JIMINY_DLLAPI getJointVelocityIndices (const pinocchio::Model &model, const std::string &jointName) —————————-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 42] std::vector< Eigen::Index > JIMINY_DLLAPI getJointVelocityIndices (const pinocchio::Model &model, const std::string &jointName) ——————————————^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 42] std::vector< Eigen::Index > JIMINY_DLLAPI getJointVelocityIndices (const pinocchio::Model &model, const std::string &jointName) ——————————————^

Warning

doxygenfunction: Unable to resolve function “jiminy::isPositionValid” with arguments “None”. Candidate function could not be parsed. Parsing error is Error when parsing function declaration. If the function has no return type: Error in declarator or parameters-and-qualifiers Invalid C++ declaration: Expected identifier in nested name, got keyword: bool [error at 4] bool JIMINY_DLLAPI isPositionValid (const pinocchio::Model &model, const Eigen::VectorXd &q, double tolAbs=Eigen::NumTraits< double >::dummy_precision()) —-^ If the function has a return type: Error in declarator or parameters-and-qualifiers If pointer to member declarator: Invalid C++ declaration: Expected ‘::’ in pointer to member (function). [error at 19] bool JIMINY_DLLAPI isPositionValid (const pinocchio::Model &model, const Eigen::VectorXd &q, double tolAbs=Eigen::NumTraits< double >::dummy_precision()) ——————-^ If declarator-id: Invalid C++ declaration: Expecting “(” in parameters-and-qualifiers. [error at 19] bool JIMINY_DLLAPI isPositionValid (const pinocchio::Model &model, const Eigen::VectorXd &q, double tolAbs=Eigen::NumTraits< double >::dummy_precision()) ——————-^

pinocchio::Force jiminy::convertForceGlobalFrameToJoint(const pinocchio::Model &model, const pinocchio::Data &data, pinocchio::FrameIndex frameIndex, const pinocchio::Force &fextInGlobal)

Translate a force expressed at the given fixed frame to its parent joint frame.

Parameters:

• model – [in] Pinocchio model.

• data – [in] Pinocchio data.

• frameIndex – [in] Index of the frame.

• fextInGlobal – [in] Force in the global frame to be converted.

Returns:

Force in the parent joint local frame.