hpp-pinocchio 6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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body.hh
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1//
2// Copyright (c) 2016 CNRS
3// Author: NMansard from Florent Lamiraux
4//
5//
6
7// Redistribution and use in source and binary forms, with or without
8// modification, are permitted provided that the following conditions are
9// met:
10//
11// 1. Redistributions of source code must retain the above copyright
12// notice, this list of conditions and the following disclaimer.
13//
14// 2. Redistributions in binary form must reproduce the above copyright
15// notice, this list of conditions and the following disclaimer in the
16// documentation and/or other materials provided with the distribution.
17//
18// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
19// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
20// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
21// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
22// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
23// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
24// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
25// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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29// DAMAGE.
30
31#ifndef HPP_PINOCCHIO_BODY_HH
32#define HPP_PINOCCHIO_BODY_HH
33
35#include <hpp/pinocchio/fwd.hh>
36#include <hpp/util/pointer.hh>
37#include <pinocchio/multibody/fwd.hpp>
38
39namespace hpp {
40namespace pinocchio {
41
52 public:
56 Body(DeviceWkPtr_t device, JointIndex joint);
57
58 virtual ~Body() {}
60
63
65 const std::string& name() const;
67
70
73
76
79
85
88
92
101
103 private:
105 void selfAssert() const;
108 void searchFrameIndex() const;
109
110 const Model& model() const;
111 Model& model();
112 const ::pinocchio::Frame& frame() const;
113 ::pinocchio::Frame& frame();
114
115 DeviceWkPtr_t devicePtr;
116 JointIndex jointIndex;
117 mutable FrameIndex
118 frameIndex; // In pinocchio, bodies are stored as frames of type BODY.
119 mutable bool frameIndexSet;
120}; // class Body
121} // namespace pinocchio
122} // namespace hpp
123#endif // HPP_PINOCCHIO_BODY_HH
Definition body.hh:51
Body(DeviceWkPtr_t device, JointIndex joint)
CollisionObjectPtr_t outerObjectAt(const size_type &i) const
Access to an outer object.
matrix3_t inertiaMatrix() const
Get Intertia matrix expressed in joint local reference frame.
virtual ~Body()
Definition body.hh:58
CollisionObjectPtr_t innerObjectAt(const size_type &i) const
Access to an inner object.
value_type mass() const
Get mass.
value_type radius() const
size_type nbInnerObjects() const
Number of inner objects.
const std::string & name() const
Get name.
JointPtr_t joint() const
Get joint holding the body.
size_type nbOuterObjects() const
Number of outer objects.
const vector3_t & localCenterOfMass() const
#define HPP_PINOCCHIO_DLLAPI
Definition config.hh:88
shared_ptr< Joint > JointPtr_t
Definition fwd.hh:123
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition fwd.hh:77
::pinocchio::FrameIndex FrameIndex
Definition fwd.hh:75
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition fwd.hh:99
matrix_t::Index size_type
Definition fwd.hh:97
double value_type
Definition fwd.hh:51
::pinocchio::JointIndex JointIndex
Definition fwd.hh:74
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition fwd.hh:98
shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition fwd.hh:116
Utility functions.
Definition body.hh:39
Definition collision-object.hh:40