hpp-pinocchio  4.14.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
device-sync.hh
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2 // Copyright (c) 2016 CNRS
3 // Author: NMansard from Florent Lamiraux
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30 
31 #ifndef HPP_PINOCCHIO_DEVICE_SYNC_HH
32 #define HPP_PINOCCHIO_DEVICE_SYNC_HH
33 
35 #include <hpp/pinocchio/fwd.hh>
36 
37 namespace hpp {
38 namespace pinocchio {
41  public:
44 
46  ModelConstPtr_t modelPtr() const { return model_; }
48  ModelPtr_t modelPtr() { return model_; }
50  const Model& model() const {
51  assert(model_);
52  return *model_;
53  }
55  Model& model() {
56  assert(model_);
57  return *model_;
58  }
59 
61  GeomModelConstPtr_t geomModelPtr() const { return geomModel_; }
63  GeomModelPtr_t geomModelPtr() { return geomModel_; }
65  const GeomModel& geomModel() const {
66  assert(geomModel_);
67  return *geomModel_;
68  }
71  assert(geomModel_);
72  return *geomModel_;
73  }
74 
76  DataConstPtr_t dataPtr() const { return d().data_; }
78  DataPtr_t dataPtr() { return d().data_; }
80  const Data& data() const {
81  assert(d().data_);
82  return *d().data_;
83  }
85  Data& data() {
86  assert(d().data_);
87  return *d().data_;
88  }
89 
91  GeomDataConstPtr_t geomDataPtr() const { return d().geomData_; }
93  GeomDataPtr_t geomDataPtr() { return d().geomData_; }
95  const GeomData& geomData() const {
96  assert(d().geomData_);
97  return *d().geomData_;
98  }
101  assert(d().geomData_);
102  return *d().geomData_;
103  }
104 
106  // -----------------------------------------------------------------------
109 
112  return d().currentConfiguration_;
113  }
117  virtual bool currentConfiguration(ConfigurationIn_t configuration);
118 
120  const vector_t& currentVelocity() const { return d().currentVelocity_; }
121 
123  bool currentVelocity(vectorIn_t velocity);
124 
126  const vector_t& currentAcceleration() const {
127  return d().currentAcceleration_;
128  }
129 
131  bool currentAcceleration(vectorIn_t acceleration);
133  // -----------------------------------------------------------------------
136 
138  const value_type& mass() const;
139 
142 
145 
147  // -----------------------------------------------------------------------
150 
154  virtual void controlComputation(const Computation_t& flag);
156  Computation_t computationFlag() const { return d().computationFlag_; }
158  void computeForwardKinematics() { d().computeForwardKinematics(modelPtr()); }
162  d().computeFramesForwardKinematics(modelPtr());
163  }
166  d().updateGeometryPlacements(modelPtr(), geomModelPtr());
167  }
169  // -----------------------------------------------------------------------
170  protected:
173 
174  virtual DeviceData& d() = 0;
175  virtual DeviceData const& d() const = 0;
176 
177  // Pinocchio objects
180 }; // class AbstractDevice
181 
205  public:
209  DeviceSync(const DevicePtr_t& device, bool lock = true);
210 
213  virtual ~DeviceSync();
214 
218  assert(isLocked());
219  return *d_;
220  }
223  DeviceData const& d() const {
224  assert(isLocked());
225  return *d_;
226  }
227 
229  void lock();
231  bool isLocked() const { return d_ != NULL; }
233  void unlock();
234 
235  private:
236  DevicePtr_t device_;
237  DeviceData* d_;
238 }; // class DeviceSync
239 } // namespace pinocchio
240 } // namespace hpp
241 
242 #endif // HPP_PINOCCHIO_DEVICE_SYNC_HH
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