hpp-pinocchio
5.0.0
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>
86 #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:68
@ JACOBIAN
Definition: device-data.hh:42
@ JOINT_POSITION
Definition: device-data.hh:41
vector_t currentVelocity_
Definition: device-data.hh:72
std::vector< JointJacobian_t > jointJacobians_
Pool of joint jacobians.
Definition: device-data.hh:81
GeomDataPtr_t geomData_
Definition: device-data.hh:69
void updateGeometryPlacements(const ModelPtr_t &m, const GeomModelPtr_t &gm)
int dataUpToDate_
Definition: device-data.hh:74
Definition: device-data.hh:51
bool geomUpToDate_
Definition: device-data.hh:75
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:128
vector_t currentAcceleration_
Definition: device-data.hh:73
Utility functions.
Definition: body.hh:39
@ COMPUTE_ALL
Definition: device-data.hh:46
vector_t Configuration_t
Definition: fwd.hh:89
DeviceWkPtr_t devicePtr_
Definition: device-data.hh:76
Configuration_t modelConf_
Temporary variable to avoid dynamic allocation.
Definition: device-data.hh:79
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:130
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:133
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:88
bool frameUpToDate_
Definition: device-data.hh:75
@ COM
Definition: device-data.hh:45
Computation_t
Definition: device-data.hh:40
void computeForwardKinematics(const ModelPtr_t &m, int flag)
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:135
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:71