hpp-pinocchio
5.1.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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31 #ifndef HPP_PINOCCHIO_BODY_HH
32 #define HPP_PINOCCHIO_BODY_HH
36 #include <hpp/util/pointer.hh>
37 #include <pinocchio/multibody/fwd.hpp>
65 const std::string& name()
const;
96 const vector3_t& localCenterOfMass()
const;
105 void selfAssert()
const;
108 void searchFrameIndex()
const;
110 const Model& model()
const;
112 const ::pinocchio::Frame& frame()
const;
115 DeviceWkPtr_t devicePtr;
119 mutable bool frameIndexSet;
123 #endif // HPP_PINOCCHIO_BODY_HH
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:77
double value_type
Definition: fwd.hh:51
::pinocchio::JointIndex JointIndex
Definition: fwd.hh:74
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:123
shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:116
virtual ~Body()
Definition: body.hh:58
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:88
matrix_t::Index size_type
Definition: fwd.hh:97
Utility functions.
Definition: body.hh:39
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:99
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:98
Robot frame.
Definition: frame.hh:42
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:75
Definition: collision-object.hh:40