20 #ifndef HPP_PINOCCHIO_DEVICE_DATA_HH
21 #define HPP_PINOCCHIO_DEVICE_DATA_HH
23 # include <hpp/util/debug.hh>
Computation_t
Definition: device-data.hh:30
@ COMPUTE_ALL
Definition: device-data.hh:36
@ JACOBIAN
Definition: device-data.hh:32
@ JOINT_POSITION
Definition: device-data.hh:31
@ ACCELERATION
Definition: device-data.hh:34
@ VELOCITY
Definition: device-data.hh:33
@ COM
Definition: device-data.hh:35
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:121
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:75
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:123
vector_t Configuration_t
Definition: fwd.hh:76
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:116
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:118
Utility functions.
Definition: body.hh:30
Definition: collision-object.hh:32
Definition: device-data.hh:42
Configuration_t modelConf_
Temporary variable to avoid dynamic allocation.
Definition: device-data.hh:64
Computation_t computationFlag_
Definition: device-data.hh:60
void computeFramesForwardKinematics(const ModelPtr_t &m)
void computeForwardKinematics(const ModelPtr_t &m)
vector_t currentVelocity_
Definition: device-data.hh:57
GeomDataPtr_t geomData_
Definition: device-data.hh:54
DataPtr_t data_
Definition: device-data.hh:53
void updateGeometryPlacements(const ModelPtr_t &m, const GeomModelPtr_t &gm)
vector_t currentAcceleration_
Definition: device-data.hh:58
bool frameUpToDate_
Definition: device-data.hh:59
std::vector< JointJacobian_t > jointJacobians_
Pool of joint jacobians.
Definition: device-data.hh:66
DeviceData(const DeviceData &other)
bool geomUpToDate_
Definition: device-data.hh:59
DeviceWkPtr_t devicePtr_
Definition: device-data.hh:61
void invalidate()
Definition: device-data.hh:46
Configuration_t currentConfiguration_
Definition: device-data.hh:56
bool upToDate_
Definition: device-data.hh:59