Basic expression representing a COM. More...
#include <hpp/constraints/tools.hh>
Public Member Functions | |
PointCom () | |
PointCom (const CalculusBase< PointCom > &other) | |
PointCom (const CenterOfMassComputationPtr_t &comc) | |
const CenterOfMassComputationPtr_t & | centerOfMassComputation () const |
void | computeValue () |
void | computeJacobian () |
![]() | |
CalculusBase () | |
const eigen::vector3_t & | value () const |
const JacobianMatrix & | jacobian () const |
const CrossMatrix & | cross () const |
void | computeCrossValue () |
CrossProduct< PointCom, RhsType > | operator^ (const RhsType &rhs) const |
Difference< PointCom, RhsType > | operator- (const RhsType &rhs) const |
Sum< PointCom, RhsType > | operator+ (const RhsType &rhs) const |
ScalarMultiply< PointCom > | operator* (const value_type &scalar) const |
Protected Attributes | |
CenterOfMassComputationPtr_t | comc_ |
![]() | |
eigen::vector3_t | value_ |
JacobianMatrix | jacobian_ |
CrossMatrix | cross_ |
Additional Inherited Members | |
![]() | |
template<typename Type > | |
static boost::shared_ptr< Type > | create (const Type ©) |
Basic expression representing a COM.
|
inline |
|
inline |
|
inline |
|
inline |
|
inlinevirtual |
Implements hpp::constraints::CalculusBaseAbstract.
|
inlinevirtual |
Implements hpp::constraints::CalculusBaseAbstract.
|
protected |