20 #ifndef HPP_PINOCCHIO_DEVICE_DATA_HH 21 #define HPP_PINOCCHIO_DEVICE_DATA_HH 23 # include <hpp/util/debug.hh> 71 #endif // HPP_PINOCCHIO_DEVICE_DATA_HH Configuration_t currentConfiguration_
Definition: device-data.hh:56
vector_t currentAcceleration_
Definition: device-data.hh:58
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:121
Computation_t computationFlag_
Definition: device-data.hh:60
Utility functions.
Definition: body.hh:30
Definition: device-data.hh:34
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:118
GeomDataPtr_t geomData_
Definition: device-data.hh:54
Definition: device-data.hh:41
void computeFramesForwardKinematics(const ModelPtr_t &m)
void updateGeometryPlacements(const ModelPtr_t &m, const GeomModelPtr_t &gm)
void computeForwardKinematics(const ModelPtr_t &m)
bool frameUpToDate_
Definition: device-data.hh:59
bool geomUpToDate_
Definition: device-data.hh:59
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:123
Configuration_t modelConf_
Temporary variable to avoid dynamic allocation.
Definition: device-data.hh:64
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:75
DataPtr_t data_
Definition: device-data.hh:53
Computation_t
Definition: device-data.hh:30
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:116
DeviceWkPtr_t devicePtr_
Definition: device-data.hh:61
Definition: device-data.hh:36
Definition: collision-object.hh:31
vector_t currentVelocity_
Definition: device-data.hh:57
std::vector< JointJacobian_t > jointJacobians_
Pool of joint jacobians.
Definition: device-data.hh:66
Definition: device-data.hh:35
Definition: device-data.hh:33
vector_t Configuration_t
Definition: fwd.hh:76
void invalidate()
Definition: device-data.hh:46
Definition: device-data.hh:32
Definition: device-data.hh:31
bool upToDate_
Definition: device-data.hh:59