29 #ifndef HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH 30 #define HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH 34 #include <hpp/util/serialization-fwd.hh> 36 #include <pinocchio/multibody/data.hpp> 57 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
98 return d.
data_->mass[0];
104 return d.
data_->Jcom;
125 #endif // HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH static const ComJacobian_t & jacobian(const DeviceData &d)
Get Jacobian of center of mass of the sub-tree.
Definition: center-of-mass-computation.hh:103
std::vector< std::size_t > JointRootIndexes_t
Definition: center-of-mass-computation.hh:54
static CenterOfMassComputationPtr_t create(const DevicePtr_t &device)
~CenterOfMassComputation()
Utility functions.
Definition: body.hh:39
void add(const JointPtr_t &rootOfSubtree)
static const vector3_t & com(const DeviceData &d)
Get center of mass of the subtree.
Definition: center-of-mass-computation.hh:93
Definition: device-data.hh:51
static const value_type & mass(const DeviceData &d)
Get mass of the sub-tree.
Definition: center-of-mass-computation.hh:97
const ComJacobian_t & jacobian() const
Get Jacobian of center of mass of the sub-tree.
Definition: center-of-mass-computation.hh:88
const value_type & mass() const
Get mass of the sub-tree.
Definition: center-of-mass-computation.hh:86
void compute(const Computation_t &flag=COMPUTE_ALL)
Definition: center-of-mass-computation.hh:75
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
Definition: fwd.hh:122
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition: fwd.hh:101
DataPtr_t data_
Definition: device-data.hh:66
Computation_t
Definition: device-data.hh:40
Definition: center-of-mass-computation.hh:52
const JointRootIndexes_t & roots() const
Get const reference to the vector of sub-tree roots.
Definition: center-of-mass-computation.hh:108
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:123
double value_type
Definition: fwd.hh:50
Definition: device-data.hh:46
Definition: collision-object.hh:40
const vector3_t & com() const
Get center of mass of the subtree.
Definition: center-of-mass-computation.hh:84
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:98