hpp-pinocchio
4.15.1
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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31 #ifndef HPP_PINOCCHIO_DEVICE_DATA_HH
32 #define HPP_PINOCCHIO_DEVICE_DATA_HH
36 #include <hpp/util/debug.hh>
84 #endif // HPP_PINOCCHIO_DEVICE_DATA_HH
@ ACCELERATION
Definition: device-data.hh:44
@ VELOCITY
Definition: device-data.hh:43
DataPtr_t data_
Definition: device-data.hh:66
@ JACOBIAN
Definition: device-data.hh:42
@ JOINT_POSITION
Definition: device-data.hh:41
bool upToDate_
Definition: device-data.hh:72
vector_t currentVelocity_
Definition: device-data.hh:70
std::vector< JointJacobian_t > jointJacobians_
Pool of joint jacobians.
Definition: device-data.hh:79
Computation_t computationFlag_
Definition: device-data.hh:73
GeomDataPtr_t geomData_
Definition: device-data.hh:67
void updateGeometryPlacements(const ModelPtr_t &m, const GeomModelPtr_t &gm)
Definition: device-data.hh:51
bool geomUpToDate_
Definition: device-data.hh:72
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:127
vector_t currentAcceleration_
Definition: device-data.hh:71
Utility functions.
Definition: body.hh:39
@ COMPUTE_ALL
Definition: device-data.hh:46
vector_t Configuration_t
Definition: fwd.hh:88
DeviceWkPtr_t devicePtr_
Definition: device-data.hh:74
Configuration_t modelConf_
Temporary variable to avoid dynamic allocation.
Definition: device-data.hh:77
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:129
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:132
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:87
void computeForwardKinematics(const ModelPtr_t &m)
bool frameUpToDate_
Definition: device-data.hh:72
@ COM
Definition: device-data.hh:45
Computation_t
Definition: device-data.hh:40
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:134
void computeFramesForwardKinematics(const ModelPtr_t &m)
void invalidate()
Definition: device-data.hh:55
Definition: collision-object.hh:40
Configuration_t currentConfiguration_
Definition: device-data.hh:69