hpp-pinocchio
4.9.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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20 #ifndef HPP_PINOCCHIO_BODY_HH
21 # define HPP_PINOCCHIO_BODY_HH
23 # include <hpp/util/pointer.hh>
25 # include <pinocchio/multibody/fwd.hpp>
57 const std::string & name ()
const;
88 const vector3_t& localCenterOfMass ()
const;
97 void selfAssert()
const;
99 void searchFrameIndex()
const;
101 const Model& model()
const ;
103 const ::pinocchio::Frame & frame()
const ;
106 DeviceWkPtr_t devicePtr;
109 mutable bool frameIndexSet;
113 #endif // HPP_PINOCCHIO_BODY_HH
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:65
double value_type
Definition: fwd.hh:40
::pinocchio::JointIndex JointIndex
Definition: fwd.hh:62
virtual ~Body()
Definition: body.hh:50
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
matrix_t::Index size_type
Definition: fwd.hh:84
boost::shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:109
Utility functions.
Definition: body.hh:30
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:86
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:85
boost::shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:102
Robot frame.
Definition: frame.hh:31
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:63
Definition: collision-object.hh:31