hpp-pinocchio  4.12.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
device-data.hh
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1 //
2 // Copyright (c) 2016 CNRS
3 // Author: NMansard from Florent Lamiraux
4 //
5 //
6 // This file is part of hpp-pinocchio
7 // hpp-pinocchio is free software: you can redistribute it
8 // and/or modify it under the terms of the GNU Lesser General Public
9 // License as published by the Free Software Foundation, either version
10 // 3 of the License, or (at your option) any later version.
11 //
12 // hpp-pinocchio is distributed in the hope that it will be
13 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
14 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Lesser Public License for more details. You should have
16 // received a copy of the GNU Lesser General Public License along with
17 // hpp-pinocchio If not, see
18 // <http://www.gnu.org/licenses/>.
19 
20 #ifndef HPP_PINOCCHIO_DEVICE_DATA_HH
21 #define HPP_PINOCCHIO_DEVICE_DATA_HH
22 
23 # include <hpp/util/debug.hh>
24 
25 # include <hpp/pinocchio/config.hh>
26 # include <hpp/pinocchio/fwd.hh>
27 
28 namespace hpp {
29  namespace pinocchio {
32  JACOBIAN = 0x2,
33  VELOCITY = 0x4,
34  ACCELERATION = 0x8,
35  COM = 0xf,
36  COMPUTE_ALL = 0Xffff
37  };
38 
41  struct DeviceData
42  {
43  DeviceData ();
44  DeviceData (const DeviceData& other);
45 
46  inline void invalidate () { upToDate_ = false; frameUpToDate_ = false; geomUpToDate_ = false; }
47 
48  void computeForwardKinematics (const ModelPtr_t& m);
50  void updateGeometryPlacements (const ModelPtr_t& m, const GeomModelPtr_t& gm);
51 
52  // Pinocchio objects
55 
61  DeviceWkPtr_t devicePtr_;
62 
66  std::vector<JointJacobian_t> jointJacobians_;
67  }; // struct DeviceData
68  } // namespace pinocchio
69 } // namespace hpp
70 
71 #endif // HPP_PINOCCHIO_DEVICE_DATA_HH
hpp::pinocchio::ACCELERATION
@ ACCELERATION
Definition: device-data.hh:34
hpp::pinocchio::VELOCITY
@ VELOCITY
Definition: device-data.hh:33
hpp::pinocchio::DeviceData::data_
DataPtr_t data_
Definition: device-data.hh:53
hpp::pinocchio::JACOBIAN
@ JACOBIAN
Definition: device-data.hh:32
hpp::pinocchio::JOINT_POSITION
@ JOINT_POSITION
Definition: device-data.hh:31
hpp::pinocchio::DeviceData::upToDate_
bool upToDate_
Definition: device-data.hh:59
hpp::pinocchio::DeviceData::currentVelocity_
vector_t currentVelocity_
Definition: device-data.hh:57
hpp::pinocchio::DeviceData::jointJacobians_
std::vector< JointJacobian_t > jointJacobians_
Pool of joint jacobians.
Definition: device-data.hh:66
hpp::pinocchio::DeviceData::computationFlag_
Computation_t computationFlag_
Definition: device-data.hh:60
hpp::pinocchio::DeviceData::geomData_
GeomDataPtr_t geomData_
Definition: device-data.hh:54
hpp::pinocchio::DeviceData::updateGeometryPlacements
void updateGeometryPlacements(const ModelPtr_t &m, const GeomModelPtr_t &gm)
fwd.hh
hpp::pinocchio::DeviceData
Definition: device-data.hh:41
hpp::pinocchio::DeviceData::geomUpToDate_
bool geomUpToDate_
Definition: device-data.hh:59
hpp::pinocchio::ModelPtr_t
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:116
hpp::pinocchio::DeviceData::currentAcceleration_
vector_t currentAcceleration_
Definition: device-data.hh:58
hpp
Utility functions.
Definition: body.hh:30
hpp::pinocchio::COMPUTE_ALL
@ COMPUTE_ALL
Definition: device-data.hh:36
hpp::pinocchio::Configuration_t
vector_t Configuration_t
Definition: fwd.hh:76
hpp::pinocchio::DeviceData::devicePtr_
DeviceWkPtr_t devicePtr_
Definition: device-data.hh:61
hpp::pinocchio::DeviceData::modelConf_
Configuration_t modelConf_
Temporary variable to avoid dynamic allocation.
Definition: device-data.hh:64
hpp::pinocchio::DataPtr_t
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:118
hpp::pinocchio::GeomModelPtr_t
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:121
hpp::pinocchio::vector_t
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:75
hpp::pinocchio::DeviceData::computeForwardKinematics
void computeForwardKinematics(const ModelPtr_t &m)
hpp::pinocchio::DeviceData::frameUpToDate_
bool frameUpToDate_
Definition: device-data.hh:59
hpp::pinocchio::COM
@ COM
Definition: device-data.hh:35
hpp::pinocchio::Computation_t
Computation_t
Definition: device-data.hh:30
hpp::pinocchio::GeomDataPtr_t
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:123
hpp::pinocchio::DeviceData::computeFramesForwardKinematics
void computeFramesForwardKinematics(const ModelPtr_t &m)
hpp::pinocchio::DeviceData::DeviceData
DeviceData()
hpp::pinocchio::DeviceData::invalidate
void invalidate()
Definition: device-data.hh:46
config.hh
pinocchio
Definition: collision-object.hh:31
hpp::pinocchio::DeviceData::currentConfiguration_
Configuration_t currentConfiguration_
Definition: device-data.hh:56