center-of-mass.hpp File Reference
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/center-of-mass.hxx"
Include dependency graph for center-of-mass.hpp:

Namespaces

namespace  se3

Functions

const SE3::Vector3se3::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.
const SE3::Vector3se3::centerOfMass (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, 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 SE3::Vector3se3::centerOfMass (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 Data::Matrix3x & 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 SE3::Vector3se3::getComFromCrba (const Model &model, Data &data)
 Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix).
const Data::Matrix3x & 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).