hpp-pinocchio
5.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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31 #ifndef HPP_PINOCCHIO_FWD_HH
32 #define HPP_PINOCCHIO_FWD_HH
34 #ifndef PINOCCHIO_WITH_HPP_FCL
35 #error "hpp-fcl support in Pinocchio is mandatory."
38 #include <hpp/fcl/collision_data.h>
41 #include <hpp/fcl/fwd.hh>
43 #include <hpp/util/pointer.hh>
44 #include <pinocchio/multibody/fwd.hpp>
45 #include <pinocchio/multibody/joint/fwd.hpp>
46 #include <pinocchio/spatial/fwd.hpp>
70 template <
typename _Scalar,
int _Options>
77 typedef ::pinocchio::ModelTpl<value_type, 0, JointCollectionTpl>
Model;
78 typedef ::pinocchio::DataTpl<value_type, 0, JointCollectionTpl>
Data;
83 typedef ::pinocchio::JointModelTpl<value_type, 0, JointCollectionTpl>
86 typedef Eigen::Array<bool, Eigen::Dynamic, 1>
ArrayXb;
88 typedef Eigen::Matrix<value_type, Eigen::Dynamic, 1>
vector_t;
95 typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic>
matrix_t;
111 using fcl::CollisionGeometry;
138 template <
typename vector_type>
140 template <
typename vector_type>
154 #endif // HPP_PINOCCHIO_FWD_HH
Humanoid robot.
Definition: humanoid-robot.hh:44
Definition: device-sync.hh:212
shared_ptr< const LiegroupSpace > LiegroupSpaceConstPtr_t
Definition: fwd.hh:151
shared_ptr< const Data > DataConstPtr_t
Definition: fwd.hh:131
shared_ptr< Configuration_t > ConfigurationPtr_t HPP_PINOCCHIO_DEPRECATED
Definition: fwd.hh:92
std::vector< GripperPtr_t > Grippers_t
Definition: fwd.hh:126
Eigen::Ref< Configuration_t > ConfigurationOut_t
Definition: fwd.hh:91
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > matrix_t
Definition: fwd.hh:95
Eigen::Matrix< value_type, 4, 1 > vector4_t
Definition: fwd.hh:100
Robot with geometric and dynamic pinocchio.
Definition: device.hh:60
Eigen::Ref< const Configuration_t > ConfigurationIn_t
Definition: fwd.hh:90
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:77
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition: fwd.hh:102
double value_type
Definition: fwd.hh:51
::pinocchio::JointIndex JointIndex
Definition: fwd.hh:74
::pinocchio::SE3 Transform3f
Definition: fwd.hh:81
Definition: liegroup-space.hh:101
@ COLLISION
Definition: fwd.hh:66
@ DISTANCE
Definition: fwd.hh:66
const typedef fcl::CollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:115
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:123
shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:116
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:150
shared_ptr< HumanoidRobot > HumanoidRobotPtr_t
Definition: fwd.hh:121
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:119
shared_ptr< const Joint > JointConstPtr_t
Definition: fwd.hh:124
shared_ptr< const GeomData > GeomDataConstPtr_t
Definition: fwd.hh:136
@ INNER
Definition: fwd.hh:67
JointVector JointVector_t
Definition: fwd.hh:105
Definition: device-data.hh:51
@ OUTER
Definition: fwd.hh:67
InOutType
Definition: fwd.hh:67
matrix_t::Index size_type
Definition: fwd.hh:97
JointCollectionTpl< value_type, 0 > JointCollection
Definition: fwd.hh:71
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:128
Utility functions.
Definition: body.hh:39
std::vector< fcl::DistanceResult > DistanceResults_t
Definition: fwd.hh:120
::pinocchio::GeometryModel GeomModel
Definition: fwd.hh:79
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
Definition: fwd.hh:112
LiegroupElementBase< vectorOut_t > LiegroupElementRef
Writable reference to a LiegroupElement.
Definition: fwd.hh:147
vector_t Configuration_t
Definition: fwd.hh:89
LiegroupElementConstBase< vectorIn_t > LiegroupElementConstRef
Const reference to a LiegroupElement.
Definition: fwd.hh:141
Eigen::Ref< vector_t > vectorOut_t
Definition: fwd.hh:94
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
Definition: fwd.hh:122
Eigen::Ref< const vector_t > vectorIn_t
Definition: fwd.hh:93
Definition: gripper.hh:48
::pinocchio::GeomIndex GeomIndex
Definition: fwd.hh:76
Eigen::Block< JointJacobian_t, 3, Eigen::Dynamic > HalfJointJacobian_t
Definition: fwd.hh:103
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:99
::pinocchio::DataTpl< value_type, 0, JointCollectionTpl > Data
Definition: fwd.hh:78
fcl::CollisionObject FclCollisionObject
Definition: fwd.hh:113
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:130
shared_ptr< Gripper > GripperPtr_t
Definition: fwd.hh:125
Request_t
Definition: fwd.hh:66
fcl::CollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:114
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:133
Definition: center-of-mass-computation.hh:52
Eigen::Array< bool, Eigen::Dynamic, 1 > ArrayXb
Definition: fwd.hh:86
shared_ptr< const GeomModel > GeomModelConstPtr_t
Definition: fwd.hh:134
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:88
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:98
LiegroupElementBase< vector_t > LiegroupElement
Element of a Lie group.
Definition: fwd.hh:145
shared_ptr< Body > BodyPtr_t
Definition: fwd.hh:109
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:96
Abstract class representing a Device.
Definition: device-sync.hh:41
::pinocchio::SE3 SE3
Definition: fwd.hh:82
Robot frame.
Definition: frame.hh:42
shared_ptr< const CollisionObject > CollisionObjectConstPtr_t
Definition: fwd.hh:117
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:135
shared_ptr< const Model > ModelConstPtr_t
Definition: fwd.hh:129
ObjectVector ObjectVector_t
Definition: fwd.hh:107
Definition: collision-object.hh:52
::pinocchio::JointModelTpl< value_type, 0, JointCollectionTpl > JointModel
Definition: fwd.hh:84
::pinocchio::GeometryData GeomData
Definition: fwd.hh:80
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:101
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:75
shared_ptr< const Body > BodyConstPtr_t
Definition: fwd.hh:110
Definition: collision-object.hh:40