hpp-pinocchio
4.15.1
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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31 #ifndef HPP_PINOCCHIO_HUMANOID_ROBOT_HH
32 #define HPP_PINOCCHIO_HUMANOID_ROBOT_HH
108 gazeOrigin_ = origin;
109 gazeDirection_ = dir;
121 void init(
const HumanoidRobotWkPtr_t& weakPtr);
123 void initCopy(
const HumanoidRobotWkPtr_t& weakPtr,
130 HumanoidRobotWkPtr_t weakPtr_;
148 #endif // HPP_PINOCCHIO_HUMANOID_ROBOT_HH
Humanoid robot.
Definition: humanoid-robot.hh:44
Robot with geometric and dynamic pinocchio.
Definition: device.hh:60
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:117
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:122
shared_ptr< HumanoidRobot > HumanoidRobotPtr_t
Definition: fwd.hh:120
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
Utility functions.
Definition: body.hh:39
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:98
HumanoidRobot()
For serialization only.
Definition: humanoid-robot.hh:127
void gaze(const vector3_t &origin, const vector3_t &dir)
Set gaze parameters.
Definition: humanoid-robot.hh:107
Definition: collision-object.hh:40