#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/center-of-mass.hxx"
Namespaces |
namespace | se3 |
Functions |
const SE3::Vector3 & | 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.
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const SE3::Vector3 & | se3::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.
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const SE3::Vector3 & | se3::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.
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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.
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const SE3::Vector3 & | se3::getComFromCrba (const Model &model, Data &data) |
| Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix).
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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).
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