hpp::pinocchio::DeviceData Struct Reference

Struct containing the Device data. More...

#include <hpp/pinocchio/device-data.hh>

Collaboration diagram for hpp::pinocchio::DeviceData:

Public Member Functions
	DeviceData ()
	DeviceData (const DeviceData &other)
void	invalidate ()
void	computeForwardKinematics (const ModelPtr_t &m)
void	computeFramesForwardKinematics (const ModelPtr_t &m)
void	updateGeometryPlacements (const ModelPtr_t &m, const GeomModelPtr_t &gm)

Public Attributes
DataPtr_t	data_
GeomDataPtr_t	geomData_
Configuration_t	currentConfiguration_
vector_t	currentVelocity_
vector_t	currentAcceleration_
bool	upToDate_
bool	frameUpToDate_
bool	geomUpToDate_
Computation_t	computationFlag_
DeviceWkPtr_t	devicePtr_
Configuration_t	modelConf_
	Temporary variable to avoid dynamic allocation. More...
std::vector< JointJacobian_t >	jointJacobians_
	Pool of joint jacobians. More...

Detailed Description

Struct containing the Device data.

Users normally do not need to access its attributes.

Constructor & Destructor Documentation

DeviceData() [1/2]

hpp::pinocchio::DeviceData::DeviceData

(

)

DeviceData() [2/2]

hpp::pinocchio::DeviceData::DeviceData

(

const DeviceData &

other

)

Member Function Documentation

computeForwardKinematics()

void hpp::pinocchio::DeviceData::computeForwardKinematics

(

const ModelPtr_t &

m

)

Referenced by invalidate().

computeFramesForwardKinematics()

void hpp::pinocchio::DeviceData::computeFramesForwardKinematics

(

const ModelPtr_t &

m

)

Referenced by invalidate().

invalidate()

void hpp::pinocchio::DeviceData::invalidate ( )

inline

References computeForwardKinematics(), computeFramesForwardKinematics(), frameUpToDate_, geomUpToDate_, updateGeometryPlacements(), and upToDate_.

Referenced by hpp::pinocchio::Device::invalidate().

updateGeometryPlacements()

void hpp::pinocchio::DeviceData::updateGeometryPlacements	(	const ModelPtr_t &	m,
		const GeomModelPtr_t &	gm
	)

Referenced by invalidate().

Member Data Documentation

computationFlag_

Computation_t hpp::pinocchio::DeviceData::computationFlag_

currentAcceleration_

vector_t hpp::pinocchio::DeviceData::currentAcceleration_

currentConfiguration_

Configuration_t hpp::pinocchio::DeviceData::currentConfiguration_

currentVelocity_

vector_t hpp::pinocchio::DeviceData::currentVelocity_

data_

DataPtr_t hpp::pinocchio::DeviceData::data_

Referenced by hpp::pinocchio::CenterOfMassComputation::com(), hpp::pinocchio::CenterOfMassComputation::jacobian(), and hpp::pinocchio::CenterOfMassComputation::mass().

devicePtr_

DeviceWkPtr_t hpp::pinocchio::DeviceData::devicePtr_

frameUpToDate_

bool hpp::pinocchio::DeviceData::frameUpToDate_

Referenced by invalidate().

geomData_

GeomDataPtr_t hpp::pinocchio::DeviceData::geomData_

geomUpToDate_

bool hpp::pinocchio::DeviceData::geomUpToDate_

Referenced by invalidate().

jointJacobians_

std::vector<JointJacobian_t> hpp::pinocchio::DeviceData::jointJacobians_

Pool of joint jacobians.

modelConf_

Configuration_t hpp::pinocchio::DeviceData::modelConf_

Temporary variable to avoid dynamic allocation.

upToDate_

bool hpp::pinocchio::DeviceData::upToDate_

Referenced by invalidate().