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hpp::constraints::PointCom Class Reference

Basic expression representing a COM. More...

#include <hpp/constraints/tools.hh>

Inheritance diagram for hpp::constraints::PointCom:
Collaboration diagram for hpp::constraints::PointCom:

Public Member Functions

 PointCom ()
 
 PointCom (const CalculusBase< PointCom > &other)
 
 PointCom (const CenterOfMassComputationPtr_t &comc)
 
const
CenterOfMassComputationPtr_t
centerOfMassComputation () const
 
void computeValue ()
 
void computeJacobian ()
 
- Public Member Functions inherited from hpp::constraints::CalculusBase< PointCom >
 CalculusBase ()
 
const eigen::vector3_tvalue () const
 
const JacobianMatrixjacobian () const
 
const CrossMatrixcross () const
 
void computeCrossValue ()
 
CrossProduct< PointCom, RhsType > operator^ (const RhsType &rhs) const
 
Difference< PointCom, RhsType > operator- (const RhsType &rhs) const
 
Sum< PointCom, RhsType > operator+ (const RhsType &rhs) const
 
ScalarMultiply< PointComoperator* (const value_type &scalar) const
 

Protected Attributes

CenterOfMassComputationPtr_t comc_
 
- Protected Attributes inherited from hpp::constraints::CalculusBase< PointCom >
eigen::vector3_t value_
 
JacobianMatrix jacobian_
 
CrossMatrix cross_
 

Additional Inherited Members

- Static Public Member Functions inherited from hpp::constraints::CalculusBaseAbstract
template<typename Type >
static boost::shared_ptr< Type > create (const Type &copy)
 

Detailed Description

Basic expression representing a COM.

Constructor & Destructor Documentation

hpp::constraints::PointCom::PointCom ( )
inline
hpp::constraints::PointCom::PointCom ( const CalculusBase< PointCom > &  other)
inline

References centerOfMassComputation(), and comc_.

hpp::constraints::PointCom::PointCom ( const CenterOfMassComputationPtr_t comc)
inline

Member Function Documentation

const CenterOfMassComputationPtr_t& hpp::constraints::PointCom::centerOfMassComputation ( ) const
inline

References comc_.

Referenced by PointCom().

void hpp::constraints::PointCom::computeJacobian ( )
inlinevirtual
void hpp::constraints::PointCom::computeValue ( )
inlinevirtual

Member Data Documentation

CenterOfMassComputationPtr_t hpp::constraints::PointCom::comc_
protected