A thread-safe access to a Device. More...

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

Inheritance diagram for hpp::pinocchio::DeviceSync:

Collaboration diagram for hpp::pinocchio::DeviceSync:

Public Member Functions
	DeviceSync (const DevicePtr_t &device, bool lock=true)
	Constructor. More...

virtual	~DeviceSync ()
	Destructor. More...

DeviceData &	d ()
	Accessor to the locked DeviceData. More...

DeviceData const &	d () const
	Const accessor to the locked DeviceData. More...

void	lock ()
	Lock the current DeviceData. More...

bool	isLocked () const
	Check if the current DeviceData is locked. More...

void	unlock ()
	Unlock the current DeviceData. More...

Public Member Functions inherited from hpp::pinocchio::AbstractDevice
ModelConstPtr_t	modelPtr () const
	Access to pinocchio model. More...

ModelPtr_t	modelPtr ()
	Access to pinocchio model. More...

const Model &	model () const
	Access to pinocchio model. More...

Model &	model ()
	Access to pinocchio model. More...

GeomModelConstPtr_t	geomModelPtr () const
	Access to pinocchio geomModel. More...

GeomModelPtr_t	geomModelPtr ()
	Access to pinocchio geomModel. More...

const GeomModel &	geomModel () const
	Access to pinocchio geomModel. More...

GeomModel &	geomModel ()
	Access to pinocchio geomModel. More...

DataConstPtr_t	dataPtr () const
	Access to Pinocchio data/. More...

DataPtr_t	dataPtr ()
	Access to Pinocchio data/. More...

const Data &	data () const
	Access to Pinocchio data/. More...

Data &	data ()
	Access to Pinocchio data/. More...

GeomDataConstPtr_t	geomDataPtr () const
	Access to Pinocchio geomData/. More...

GeomDataPtr_t	geomDataPtr ()
	Access to Pinocchio geomData/. More...

const GeomData &	geomData () const
	Access to Pinocchio geomData/. More...

GeomData &	geomData ()
	Access to Pinocchio geomData/. More...

const Configuration_t &	currentConfiguration () const
	Get current configuration. More...

virtual bool	currentConfiguration (ConfigurationIn_t configuration)
	Set current configuration. More...

const vector_t &	currentVelocity () const
	Get current velocity. More...

bool	currentVelocity (vectorIn_t velocity)
	Set current velocity. More...

const vector_t &	currentAcceleration () const
	Get current acceleration. More...

bool	currentAcceleration (vectorIn_t acceleration)
	Set current acceleration. More...

const value_type &	mass () const
	Get mass of robot. More...

const vector3_t &	positionCenterOfMass () const
	Get position of center of mass. More...

const ComJacobian_t &	jacobianCenterOfMass () const
	Get Jacobian of center of mass with respect to configuration. More...

virtual void	controlComputation (const Computation_t &flag)
	Select computation Optimize computation time by selecting only necessary values in method computeForwardKinematics. More...

Computation_t	computationFlag () const
	Get computation flag. More...

void	computeForwardKinematics ()
	Compute forward kinematics. More...

void	computeFramesForwardKinematics ()
	Compute frame forward kinematics. More...

void	updateGeometryPlacements ()
	Update the geometry placement to the currentConfiguration. More...

Additional Inherited Members
Protected Member Functions inherited from hpp::pinocchio::AbstractDevice
	AbstractDevice ()

	AbstractDevice (const ModelPtr_t &m, const GeomModelPtr_t &gm)

Protected Attributes inherited from hpp::pinocchio::AbstractDevice
ModelPtr_t	model_

GeomModelPtr_t	geomModel_

Detailed Description

A thread-safe access to a Device.

To ensure thread safety, one can do

// In some place of the code:
DevicePtr_t device = ...;
device->numberDeviceData (4);
// Acquires a lock on the device.
DeviceSync deviceSync (device);
deviceSync.currentConfiguration(q);
deviceSync.computeForwardKinematics();
JointPtr_t joint = ...;
joint->currentTransformation (deviceSync.d());
CollisionObjectPtr_t body = ...;
body->fcl          (deviceSync.d());
body->getTransform (deviceSync.d());
// The lock is release when deviceSync is destroyed.

Constructor & Destructor Documentation

◆ DeviceSync()

hpp::pinocchio::DeviceSync::DeviceSync	(	const DevicePtr_t &	device,
		bool	lock = `true`
	)

Constructor.

Parameters

device	to lock
lock	whether to acquire the lock.

◆ ~DeviceSync()

virtual hpp::pinocchio::DeviceSync::~DeviceSync ( )

virtual

Destructor.

The lock is released if necessary.

Member Function Documentation

◆ d() [1/2]

DeviceData& hpp::pinocchio::DeviceSync::d ( )

inlinevirtual

Accessor to the locked DeviceData.

Note: this asserts that this isLocked()

Implements hpp::pinocchio::AbstractDevice.

◆ d() [2/2]

DeviceData const& hpp::pinocchio::DeviceSync::d ( ) const

inlinevirtual

Const accessor to the locked DeviceData.

Note: this asserts that this isLocked()

Implements hpp::pinocchio::AbstractDevice.

◆ isLocked()

bool hpp::pinocchio::DeviceSync::isLocked ( ) const

inline

Check if the current DeviceData is locked.

◆ lock()

void hpp::pinocchio::DeviceSync::lock ( )

Lock the current DeviceData.

◆ unlock()

void hpp::pinocchio::DeviceSync::unlock ( )

Unlock the current DeviceData.

Public Member Functions

Additional Inherited Members