center-of-mass-computation.hh

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// Copyright (c) 2016, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH
#define HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH
 
#include <hpp/pinocchio/device.hh>
#include <hpp/pinocchio/fwd.hh>
#include <hpp/util/serialization-fwd.hh>
#include <list>
#include <pinocchio/multibody/data.hpp>  // ::pinocchio::Data
 
namespace hpp {
namespace pinocchio {
class CenterOfMassComputation {
 public:
  typedef std::vector<std::size_t> JointRootIndexes_t;
  // This fixes an alignment issue of ::pinocchio::Data::hg
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
 public:
  static CenterOfMassComputationPtr_t create(const DevicePtr_t& device);
 
  void add(const JointPtr_t& rootOfSubtree);
 
  void compute(const Computation_t& flag = COMPUTE_ALL) {
    compute(robot_->d(), flag);
  }
 
  void compute(DeviceData& data, const Computation_t& flag);
 
  const vector3_t& com() const { return com(robot_->d()); }
  const value_type& mass() const { return mass(robot_->d()); }
  const ComJacobian_t& jacobian() const { return jacobian(robot_->d()); }
 
  static const vector3_t& com(const DeviceData& d) { return d.data_->com[0]; }
  static const value_type& mass(const DeviceData& d) {
    return d.data_->mass[0];
  }
  static const ComJacobian_t& jacobian(const DeviceData& d) {
    return d.data_->Jcom;
  }
 
  const JointRootIndexes_t& roots() const { return roots_; }
 
  ~CenterOfMassComputation();
 
 protected:
  CenterOfMassComputation(const DevicePtr_t& device);
 
 private:
  DevicePtr_t robot_;
  // Root of the subtrees
  JointRootIndexes_t roots_;
 
  CenterOfMassComputation() {}
  HPP_SERIALIZABLE();
};  // class CenterOfMassComputation
}  // namespace pinocchio
}  // namespace hpp
#endif  // HPP_PINOCCHIO_CENTER_OF_MASS_COMPUTATION_HH