31 #ifndef HPP_PINOCCHIO_DEVICE_SYNC_HH 32 #define HPP_PINOCCHIO_DEVICE_SYNC_HH 97 assert(d().geomData_);
98 return *d().geomData_;
102 assert(d().geomData_);
103 return *d().geomData_;
113 return d().currentConfiguration_;
128 return d().currentAcceleration_;
132 bool currentAcceleration(
vectorIn_t acceleration);
142 const vector3_t& positionCenterOfMass()
const;
165 d().computeForwardKinematics(modelPtr(), flag);
170 d().computeFramesForwardKinematics(modelPtr());
174 d().updateGeometryPlacements(modelPtr(), geomModelPtr());
250 #endif // HPP_PINOCCHIO_DEVICE_SYNC_HH ::pinocchio::DataTpl< value_type, 0, JointCollectionTpl > Data
Definition: fwd.hh:78
const Data & data() const
Access to Pinocchio data/.
Definition: device-sync.hh:81
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:133
const Model & model() const
Access to pinocchio model.
Definition: device-sync.hh:51
void computeForwardKinematics()
Compute forward kinematics computing everything.
Definition: device-sync.hh:160
Computation_t computationFlag() const HPP_PINOCCHIO_DEPRECATED
Definition: device-sync.hh:156
DeviceData const & d() const
Definition: device-sync.hh:231
const GeomData & geomData() const
Access to Pinocchio geomData/.
Definition: device-sync.hh:96
Utility functions.
Definition: body.hh:39
const vector_t & currentAcceleration() const
Get current acceleration.
Definition: device-sync.hh:127
GeomModel & geomModel()
Access to pinocchio geomModel.
Definition: device-sync.hh:71
shared_ptr< const Model > ModelConstPtr_t
Definition: fwd.hh:129
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:130
::pinocchio::GeometryModel GeomModel
Definition: fwd.hh:79
Definition: device-data.hh:51
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:77
ModelConstPtr_t modelPtr() const
Access to pinocchio model.
Definition: device-sync.hh:47
ModelPtr_t model_
Definition: device-sync.hh:186
GeomDataPtr_t geomDataPtr()
Access to Pinocchio geomData/.
Definition: device-sync.hh:94
shared_ptr< Configuration_t > ConfigurationPtr_t HPP_PINOCCHIO_DEPRECATED
Definition: fwd.hh:92
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
shared_ptr< const Data > DataConstPtr_t
Definition: fwd.hh:131
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:135
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition: fwd.hh:102
GeomData & geomData()
Access to Pinocchio geomData/.
Definition: device-sync.hh:101
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:88
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:88
const Configuration_t & currentConfiguration() const
Get current configuration.
Definition: device-sync.hh:112
GeomModelPtr_t geomModel_
Definition: device-sync.hh:187
DataConstPtr_t dataPtr() const
Access to Pinocchio data/.
Definition: device-sync.hh:77
Computation_t
Definition: device-data.hh:40
DataPtr_t dataPtr()
Access to Pinocchio data/.
Definition: device-sync.hh:79
::pinocchio::GeometryData GeomData
Definition: fwd.hh:80
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:128
Abstract class representing a Device.
Definition: device-sync.hh:41
void updateGeometryPlacements()
Update the geometry placement to the currentConfiguration.
Definition: device-sync.hh:173
DeviceData & d()
Definition: device-sync.hh:225
GeomModelConstPtr_t geomModelPtr() const
Access to pinocchio geomModel.
Definition: device-sync.hh:62
double value_type
Definition: fwd.hh:51
Eigen::Ref< const Configuration_t > ConfigurationIn_t
Definition: fwd.hh:90
Definition: device-data.hh:46
Model & model()
Access to pinocchio model.
Definition: device-sync.hh:56
ModelPtr_t modelPtr()
Access to pinocchio model.
Definition: device-sync.hh:49
Definition: collision-object.hh:40
Data & data()
Access to Pinocchio data/.
Definition: device-sync.hh:86
void computeForwardKinematics(int flag)
Definition: device-sync.hh:164
bool isLocked() const
Check if the current DeviceData is locked.
Definition: device-sync.hh:239
const vector_t & currentVelocity() const
Get current velocity.
Definition: device-sync.hh:121
Eigen::Ref< const vector_t > vectorIn_t
Definition: fwd.hh:93
const GeomModel & geomModel() const
Access to pinocchio geomModel.
Definition: device-sync.hh:66
void computeFramesForwardKinematics()
Definition: device-sync.hh:169
GeomModelPtr_t geomModelPtr()
Access to pinocchio geomModel.
Definition: device-sync.hh:64
void controlComputation(const Computation_t &) HPP_PINOCCHIO_DEPRECATED
Definition: device-sync.hh:154
vector_t Configuration_t
Definition: fwd.hh:89
Definition: device-sync.hh:212
GeomDataConstPtr_t geomDataPtr() const
Access to Pinocchio geomData/.
Definition: device-sync.hh:92
shared_ptr< const GeomModel > GeomModelConstPtr_t
Definition: fwd.hh:134
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:99
shared_ptr< const GeomData > GeomDataConstPtr_t
Definition: fwd.hh:136