hpp-pinocchio
4.12.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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17 #ifndef HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH
18 # define HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH
22 # include <pinocchio/multibody/data.hpp>
24 # include <hpp/util/serialization-fwd.hh>
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
114 #endif // HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH
DataPtr_t data_
Definition: device-data.hh:53
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition: fwd.hh:89
double value_type
Definition: fwd.hh:40
static const vector3_t & com(const DeviceData &d)
Get center of mass of the subtree.
Definition: center-of-mass-computation.hh:86
const JointRootIndexes_t & roots() const
Get const reference to the vector of sub-tree roots.
Definition: center-of-mass-computation.hh:97
const value_type & mass() const
Get mass of the sub-tree.
Definition: center-of-mass-computation.hh:79
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
const vector3_t & com() const
Get center of mass of the subtree.
Definition: center-of-mass-computation.hh:77
Definition: device-data.hh:41
static const ComJacobian_t & jacobian(const DeviceData &d)
Get Jacobian of center of mass of the sub-tree.
Definition: center-of-mass-computation.hh:94
void add(const JointPtr_t &rootOfSubtree)
Utility functions.
Definition: body.hh:30
@ COMPUTE_ALL
Definition: device-data.hh:36
std::vector< std::size_t > JointRootIndexes_t
Definition: center-of-mass-computation.hh:46
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
Definition: fwd.hh:110
static CenterOfMassComputationPtr_t create(const DevicePtr_t &device)
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:86
const ComJacobian_t & jacobian() const
Get Jacobian of center of mass of the sub-tree.
Definition: center-of-mass-computation.hh:81
Definition: center-of-mass-computation.hh:43
Computation_t
Definition: device-data.hh:30
static const value_type & mass(const DeviceData &d)
Get mass of the sub-tree.
Definition: center-of-mass-computation.hh:90
void compute(const Computation_t &flag=COMPUTE_ALL)
Definition: center-of-mass-computation.hh:67
~CenterOfMassComputation()
Definition: collision-object.hh:31