feat(joint-ellipsoid)

forcing subspace with one column

finite diff for S

Sdot

Author: ipuch

CHANGELOG.md

@@ -14,6 +14,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Add docker images ([#2776](https://github.com/stack-of-tasks/pinocchio/pull/2776))
 - ROS: added jrl_cmakemodules dependency ([#2789](https://github.com/stack-of-tasks/pinocchio/pull/2789))
 
+### Added
+- Add Ellipsoid Joint to the joint collection, get ready for biomechanics. ([#....])(todo)
+
 ## [3.8.0] - 2025-09-17
 
 ### Added

include/pinocchio/multibody/joint-motion-subspace-generic.hpp

@@ -49,7 +49,7 @@ namespace pinocchio
   {
     typedef
       typename traits<JointMotionSubspaceTpl<Dim, Scalar, Options, MaxDim>>::DenseBase DenseBase;
-    typedef Eigen::Matrix<Scalar, Dim, Dim, Options, MaxDim, MaxDim> ReturnType;
+    typedef Eigen::Matrix<Scalar, Dim, 1, Options, MaxDim, 1> ReturnType;
   };
 
   template<int Dim, typename Scalar, int Options, int MaxDim, typename ForceSet>

include/pinocchio/multibody/joint/fwd.hpp

@@ -85,6 +85,14 @@ namespace pinocchio
   struct JointDataSphericalZYXTpl;
   typedef JointDataSphericalZYXTpl<context::Scalar> JointDataSphericalZYX;
 
+  template<typename Scalar, int Options = context::Options>
+  struct JointModelEllipsoidTpl;
+  typedef JointModelEllipsoidTpl<context::Scalar> JointModelEllipsoid;
+
+  template<typename Scalar, int Options = context::Options>
+  struct JointDataEllipsoidTpl;
+  typedef JointDataEllipsoidTpl<context::Scalar> JointDataEllipsoid;
+
   template<typename Scalar, int Options, int axis>
   struct JointModelPrismaticTpl;
   template<typename Scalar, int Options, int axis>

include/pinocchio/multibody/joint/joint-collection.hpp

@@ -54,6 +54,9 @@ namespace pinocchio
     // Joint Spherical ZYX
     typedef JointModelSphericalZYXTpl<Scalar, Options> JointModelSphericalZYX;
 
+    // Joint Ellipsoid
+    typedef JointModelEllipsoidTpl<Scalar, Options> JointModelEllipsoid;
+
     // Joint Translation
     typedef JointModelTranslationTpl<Scalar, Options> JointModelTranslation;
 
@@ -92,6 +95,7 @@ namespace pinocchio
       JointModelRevoluteUnaligned,
       JointModelSpherical,
       JointModelSphericalZYX,
+      JointModelEllipsoid,
       JointModelPX,
       JointModelPY,
       JointModelPZ,
@@ -141,6 +145,9 @@ namespace pinocchio
     // Joint Spherical ZYX
     typedef JointDataSphericalZYXTpl<Scalar, Options> JointDataSphericalZYX;
 
+    // Joint Ellipsoid
+    typedef JointDataEllipsoidTpl<Scalar, Options> JointDataEllipsoid;
+
     // Joint Translation
     typedef JointDataTranslationTpl<Scalar, Options> JointDataTranslation;
 
@@ -179,6 +186,7 @@ namespace pinocchio
       JointDataRevoluteUnaligned,
       JointDataSpherical,
       JointDataSphericalZYX,
+      JointDataEllipsoid,
       JointDataPX,
       JointDataPY,
       JointDataPZ,