17 #ifndef HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH
18 # define HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH
22 # include <pinocchio/multibody/data.hpp>
24 # include <hpp/util/serialization-fwd.hh>
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: center-of-mass-computation.hh:44
void add(const JointPtr_t &rootOfSubtree)
void compute(const Computation_t &flag=COMPUTE_ALL)
Definition: center-of-mass-computation.hh:67
const vector3_t & com() const
Get center of mass of the subtree.
Definition: center-of-mass-computation.hh:77
static const ComJacobian_t & jacobian(const DeviceData &d)
Get Jacobian of center of mass of the sub-tree.
Definition: center-of-mass-computation.hh:94
CenterOfMassComputation(const DevicePtr_t &device)
const ComJacobian_t & jacobian() const
Get Jacobian of center of mass of the sub-tree.
Definition: center-of-mass-computation.hh:81
void compute(DeviceData &data, const Computation_t &flag)
~CenterOfMassComputation()
static const value_type & mass(const DeviceData &d)
Get mass of the sub-tree.
Definition: center-of-mass-computation.hh:90
static const vector3_t & com(const DeviceData &d)
Get center of mass of the subtree.
Definition: center-of-mass-computation.hh:86
std::vector< std::size_t > JointRootIndexes_t
Definition: center-of-mass-computation.hh:46
static CenterOfMassComputationPtr_t create(const DevicePtr_t &device)
const JointRootIndexes_t & roots() const
Get const reference to the vector of sub-tree roots.
Definition: center-of-mass-computation.hh:97
const value_type & mass() const
Get mass of the sub-tree.
Definition: center-of-mass-computation.hh:79
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
Definition: fwd.hh:110
Computation_t
Definition: device-data.hh:30
@ COMPUTE_ALL
Definition: device-data.hh:36
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:86
double value_type
Definition: fwd.hh:40
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition: fwd.hh:89
Utility functions.
Definition: body.hh:30
Definition: collision-object.hh:32
Definition: device-data.hh:42
DataPtr_t data_
Definition: device-data.hh:53