31 #ifndef HPP_PINOCCHIO_DEVICE_DATA_HH
32 #define HPP_PINOCCHIO_DEVICE_DATA_HH
36 #include <hpp/util/debug.hh>
Computation_t
Definition: device-data.hh:40
@ COMPUTE_ALL
Definition: device-data.hh:46
@ JACOBIAN
Definition: device-data.hh:42
@ JOINT_POSITION
Definition: device-data.hh:41
@ ACCELERATION
Definition: device-data.hh:44
@ VELOCITY
Definition: device-data.hh:43
@ COM
Definition: device-data.hh:45
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:133
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:87
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:135
vector_t Configuration_t
Definition: fwd.hh:88
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:128
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:130
Utility functions.
Definition: body.hh:39
Definition: collision-object.hh:40
Definition: device-data.hh:51
Configuration_t modelConf_
Temporary variable to avoid dynamic allocation.
Definition: device-data.hh:77
Computation_t computationFlag_
Definition: device-data.hh:73
void computeFramesForwardKinematics(const ModelPtr_t &m)
void computeForwardKinematics(const ModelPtr_t &m)
vector_t currentVelocity_
Definition: device-data.hh:70
GeomDataPtr_t geomData_
Definition: device-data.hh:67
DataPtr_t data_
Definition: device-data.hh:66
void updateGeometryPlacements(const ModelPtr_t &m, const GeomModelPtr_t &gm)
vector_t currentAcceleration_
Definition: device-data.hh:71
bool frameUpToDate_
Definition: device-data.hh:72
std::vector< JointJacobian_t > jointJacobians_
Pool of joint jacobians.
Definition: device-data.hh:79
DeviceData(const DeviceData &other)
bool geomUpToDate_
Definition: device-data.hh:72
DeviceWkPtr_t devicePtr_
Definition: device-data.hh:74
void invalidate()
Definition: device-data.hh:55
Configuration_t currentConfiguration_
Definition: device-data.hh:69
bool upToDate_
Definition: device-data.hh:72