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// |
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// Copyright (c) 2016 CNRS |
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// Author: NMansard from Florent Lamiraux |
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// |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_PINOCCHIO_DEVICE_DATA_HH |
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#define HPP_PINOCCHIO_DEVICE_DATA_HH |
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#include <hpp/pinocchio/config.hh> |
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#include <hpp/pinocchio/fwd.hh> |
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#include <hpp/util/debug.hh> |
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namespace hpp { |
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namespace pinocchio { |
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enum Computation_t { |
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JOINT_POSITION = 0x1, |
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JACOBIAN = 0x2, |
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VELOCITY = 0x4, |
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ACCELERATION = 0x8, |
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COM = 0xf, |
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COMPUTE_ALL = 0Xffff |
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}; |
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/// Struct containing the Device data. |
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/// Users normally do not need to access its attributes. |
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struct DeviceData { |
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DeviceData(); |
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DeviceData(const DeviceData& other); |
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inline void invalidate() { |
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dataUpToDate_ = 0; |
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frameUpToDate_ = false; |
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geomUpToDate_ = false; |
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} |
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/// \param flag to customise the computation. This should be a bitwise OR |
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/// between Computation_t values. |
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void computeForwardKinematics(const ModelPtr_t& m, int flag); |
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void computeFramesForwardKinematics(const ModelPtr_t& m); |
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void updateGeometryPlacements(const ModelPtr_t& m, const GeomModelPtr_t& gm); |
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// Pinocchio objects |
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DataPtr_t data_; |
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GeomDataPtr_t geomData_; |
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Configuration_t currentConfiguration_; |
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vector_t currentVelocity_; |
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vector_t currentAcceleration_; |
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int dataUpToDate_; |
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bool frameUpToDate_, geomUpToDate_; |
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DeviceWkPtr_t devicePtr_; |
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/// Temporary variable to avoid dynamic allocation |
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Configuration_t modelConf_; |
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/// Pool of joint jacobians |
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std::vector<JointJacobian_t> jointJacobians_; |
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}; // struct DeviceData |
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} // namespace pinocchio |
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} // namespace hpp |
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#endif // HPP_PINOCCHIO_DEVICE_DATA_HH |
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