Classes | |
struct | se3::JacobianCenterOfMassForwardStep |
struct | se3::JacobianCenterOfMassBackwardStep |
Namespaces | |
namespace | se3 |
Functions | |
const Eigen::Vector3d & | se3::centerOfMass (const Model &model, Data &data, const Eigen::VectorXd &q, const bool computeSubtreeComs=true, const bool updateKinematics=true) |
Computes the center of mass position of a given model according to a particular joint configuration. | |
void | se3::centerOfMassAcceleration (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, const bool computeSubtreeComs=true, const bool updateKinematics=true) |
Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration. | |
const Eigen::Vector3d & | se3::getComFromCrba (const Model &model, Data &data) |
Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix). | |
const Eigen::Matrix< double, 3, Eigen::Dynamic > & | se3::jacobianCenterOfMass (const Model &model, Data &data, const Eigen::VectorXd &q, const bool computeSubtreeComs=true) |
Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration. | |
const Eigen::Matrix< double, 3, Eigen::Dynamic > & | se3::getJacobianComFromCrba (const Model &model, Data &data) |
Extracts both the jacobian of the center of mass (CoM) and the CoM position from the joint space inertia matrix (also called the mass matrix). |