31 #ifndef HPP_PINOCCHIO_DEVICE_SYNC_HH
32 #define HPP_PINOCCHIO_DEVICE_SYNC_HH
96 assert(d().geomData_);
97 return *d().geomData_;
101 assert(d().geomData_);
102 return *d().geomData_;
112 return d().currentConfiguration_;
127 return d().currentAcceleration_;
162 d().computeFramesForwardKinematics(modelPtr());
166 d().updateGeometryPlacements(modelPtr(), geomModelPtr());
Abstract class representing a Device.
Definition: device-sync.hh:40
ModelPtr_t model_
Definition: device-sync.hh:178
void computeFramesForwardKinematics()
Definition: device-sync.hh:161
Model & model()
Access to pinocchio model.
Definition: device-sync.hh:55
const ComJacobian_t & jacobianCenterOfMass() const
Get Jacobian of center of mass with respect to configuration.
const vector_t & currentVelocity() const
Get current velocity.
Definition: device-sync.hh:120
virtual bool currentConfiguration(ConfigurationIn_t configuration)
GeomDataPtr_t geomDataPtr()
Access to Pinocchio geomData/.
Definition: device-sync.hh:93
void computeForwardKinematics()
Compute forward kinematics.
Definition: device-sync.hh:158
GeomModelConstPtr_t geomModelPtr() const
Access to pinocchio geomModel.
Definition: device-sync.hh:61
const Configuration_t & currentConfiguration() const
Get current configuration.
Definition: device-sync.hh:111
void updateGeometryPlacements()
Update the geometry placement to the currentConfiguration.
Definition: device-sync.hh:165
const GeomData & geomData() const
Access to Pinocchio geomData/.
Definition: device-sync.hh:95
ModelConstPtr_t modelPtr() const
Access to pinocchio model.
Definition: device-sync.hh:46
GeomDataConstPtr_t geomDataPtr() const
Access to Pinocchio geomData/.
Definition: device-sync.hh:91
const vector_t & currentAcceleration() const
Get current acceleration.
Definition: device-sync.hh:126
virtual DeviceData & d()=0
AbstractDevice(const ModelPtr_t &m, const GeomModelPtr_t &gm)
virtual DeviceData const & d() const =0
DataPtr_t dataPtr()
Access to Pinocchio data/.
Definition: device-sync.hh:78
DataConstPtr_t dataPtr() const
Access to Pinocchio data/.
Definition: device-sync.hh:76
GeomData & geomData()
Access to Pinocchio geomData/.
Definition: device-sync.hh:100
const Data & data() const
Access to Pinocchio data/.
Definition: device-sync.hh:80
Data & data()
Access to Pinocchio data/.
Definition: device-sync.hh:85
const vector3_t & positionCenterOfMass() const
Get position of center of mass.
bool currentVelocity(vectorIn_t velocity)
Set current velocity.
GeomModel & geomModel()
Access to pinocchio geomModel.
Definition: device-sync.hh:70
GeomModelPtr_t geomModelPtr()
Access to pinocchio geomModel.
Definition: device-sync.hh:63
const Model & model() const
Access to pinocchio model.
Definition: device-sync.hh:50
const value_type & mass() const
Get mass of robot.
GeomModelPtr_t geomModel_
Definition: device-sync.hh:179
virtual void controlComputation(const Computation_t &flag)
ModelPtr_t modelPtr()
Access to pinocchio model.
Definition: device-sync.hh:48
bool currentAcceleration(vectorIn_t acceleration)
Set current acceleration.
const GeomModel & geomModel() const
Access to pinocchio geomModel.
Definition: device-sync.hh:65
Computation_t computationFlag() const
Get computation flag.
Definition: device-sync.hh:156
Definition: device-sync.hh:204
DeviceData const & d() const
Definition: device-sync.hh:223
DeviceData & d()
Definition: device-sync.hh:217
void lock()
Lock the current DeviceData.
bool isLocked() const
Check if the current DeviceData is locked.
Definition: device-sync.hh:231
DeviceSync(const DevicePtr_t &device, bool lock=true)
void unlock()
Unlock the current DeviceData.
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
shared_ptr< const GeomData > GeomDataConstPtr_t
Definition: fwd.hh:136
Computation_t
Definition: device-data.hh:40
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:133
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:76
::pinocchio::GeometryData GeomData
Definition: fwd.hh:79
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:87
shared_ptr< const Data > DataConstPtr_t
Definition: fwd.hh:131
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:135
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:98
shared_ptr< const Model > ModelConstPtr_t
Definition: fwd.hh:129
double value_type
Definition: fwd.hh:50
vector_t Configuration_t
Definition: fwd.hh:88
::pinocchio::DataTpl< value_type, 0, JointCollectionTpl > Data
Definition: fwd.hh:77
::pinocchio::GeometryModel GeomModel
Definition: fwd.hh:78
shared_ptr< const GeomModel > GeomModelConstPtr_t
Definition: fwd.hh:134
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition: fwd.hh:101
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:128
Eigen::Ref< const vector_t > vectorIn_t
Definition: fwd.hh:92
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:130
Eigen::Ref< const Configuration_t > ConfigurationIn_t
Definition: fwd.hh:89
Utility functions.
Definition: body.hh:39
Definition: collision-object.hh:40
Definition: device-data.hh:51