31#ifndef HPP_PINOCCHIO_BODY_HH
32#define HPP_PINOCCHIO_BODY_HH
36#include <hpp/util/pointer.hh>
37#include <pinocchio/multibody/fwd.hpp>
65 const std::string&
name()
const;
105 void selfAssert()
const;
108 void searchFrameIndex()
const;
110 const Model& model()
const;
112 const ::pinocchio::Frame& frame()
const;
113 ::pinocchio::Frame& frame();
115 DeviceWkPtr_t devicePtr;
119 mutable bool frameIndexSet;
Body(DeviceWkPtr_t device, JointIndex joint)
CollisionObjectPtr_t outerObjectAt(const size_type &i) const
Access to an outer object.
matrix3_t inertiaMatrix() const
Get Intertia matrix expressed in joint local reference frame.
virtual ~Body()
Definition: body.hh:58
CollisionObjectPtr_t innerObjectAt(const size_type &i) const
Access to an inner object.
value_type mass() const
Get mass.
value_type radius() const
size_type nbInnerObjects() const
Number of inner objects.
const std::string & name() const
Get name.
JointPtr_t joint() const
Get joint holding the body.
size_type nbOuterObjects() const
Number of outer objects.
const vector3_t & localCenterOfMass() const
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:122
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:76
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:74
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:98
matrix_t::Index size_type
Definition: fwd.hh:96
double value_type
Definition: fwd.hh:50
::pinocchio::JointIndex JointIndex
Definition: fwd.hh:73
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:97
shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:115
Utility functions.
Definition: body.hh:39
Definition: collision-object.hh:40