center-of-mass.hxx File Reference

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).