Abstract class representing a Device. More...

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

Inheritance diagram for hpp::pinocchio::AbstractDevice:

[legend]

Public Member Functions
Access to pinocchio API
ModelConstPtr_t	modelPtr () const
	Access to pinocchio model.

ModelPtr_t	modelPtr ()
	Access to pinocchio model.

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

Model &	model ()
	Access to pinocchio model.

GeomModelConstPtr_t	geomModelPtr () const
	Access to pinocchio geomModel.

GeomModelPtr_t	geomModelPtr ()
	Access to pinocchio geomModel.

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

GeomModel &	geomModel ()
	Access to pinocchio geomModel.

DataConstPtr_t	dataPtr () const
	Access to Pinocchio data/.

DataPtr_t	dataPtr ()
	Access to Pinocchio data/.

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

Data &	data ()
	Access to Pinocchio data/.

GeomDataConstPtr_t	geomDataPtr () const
	Access to Pinocchio geomData/.

GeomDataPtr_t	geomDataPtr ()
	Access to Pinocchio geomData/.

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

GeomData &	geomData ()
	Access to Pinocchio geomData/.

Current state
const Configuration_t &	currentConfiguration () const
	Get current configuration.

virtual bool	currentConfiguration (ConfigurationIn_t configuration)

const vector_t &	currentVelocity () const
	Get current velocity.

bool	currentVelocity (vectorIn_t velocity)
	Set current velocity.

const vector_t &	currentAcceleration () const
	Get current acceleration.

bool	currentAcceleration (vectorIn_t acceleration)
	Set current acceleration.

Mass and center of mass
const value_type &	mass () const
	Get mass of robot.

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

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

Forward kinematics
HPP_PINOCCHIO_DEPRECATED void	controlComputation (const Computation_t &)

HPP_PINOCCHIO_DEPRECATED Computation_t	computationFlag () const

void	computeForwardKinematics ()
	Compute forward kinematics computing everything.

void	computeForwardKinematics (int flag)

void	computeFramesForwardKinematics ()

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

Protected Member Functions
	AbstractDevice ()

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

virtual DeviceData &	d ()=0

virtual DeviceData const &	d () const =0

Protected Attributes
ModelPtr_t	model_

GeomModelPtr_t	geomModel_

Detailed Description

Abstract class representing a Device.

Constructor & Destructor Documentation

◆ AbstractDevice() [1/2]

hpp::pinocchio::AbstractDevice::AbstractDevice ( )

protected

◆ AbstractDevice() [2/2]

hpp::pinocchio::AbstractDevice::AbstractDevice	(	const ModelPtr_t &	m,
		const GeomModelPtr_t &	gm
	)

protected

Member Function Documentation

◆ computationFlag()

HPP_PINOCCHIO_DEPRECATED Computation_t hpp::pinocchio::AbstractDevice::computationFlag ( ) const

inline

Deprecated:: returns COMPUTE_ALL

◆ computeForwardKinematics() [1/2]

void hpp::pinocchio::AbstractDevice::computeForwardKinematics ( )

inline

Compute forward kinematics computing everything.

◆ computeForwardKinematics() [2/2]

void hpp::pinocchio::AbstractDevice::computeForwardKinematics ( int flag )

inline

Compute forward kinematics with custom computation flag

Parameters

flag	to customise the computation. This should be a bitwise OR between Computation_t values.

◆ computeFramesForwardKinematics()

void hpp::pinocchio::AbstractDevice::computeFramesForwardKinematics ( )

inline

Compute frame forward kinematics

Note: call AbstractDevice::computeForwardKinematics.

◆ controlComputation()

HPP_PINOCCHIO_DEPRECATED void hpp::pinocchio::AbstractDevice::controlComputation ( const Computation_t & )

inline

Deprecated:: Use computeForwardKinematics(Computation_t) instead to select what should be computed.

◆ currentAcceleration() [1/2]

const vector_t & hpp::pinocchio::AbstractDevice::currentAcceleration ( ) const

inline

Get current acceleration.

◆ currentAcceleration() [2/2]

bool hpp::pinocchio::AbstractDevice::currentAcceleration ( vectorIn_t acceleration )

Set current acceleration.

◆ currentConfiguration() [1/2]

const Configuration_t & hpp::pinocchio::AbstractDevice::currentConfiguration ( ) const

inline

Get current configuration.

◆ currentConfiguration() [2/2]

virtual bool hpp::pinocchio::AbstractDevice::currentConfiguration ( ConfigurationIn_t configuration )

virtual

Set current configuration

Returns: True if the current configuration was modified and false if the current configuration did not change.

◆ currentVelocity() [1/2]

const vector_t & hpp::pinocchio::AbstractDevice::currentVelocity ( ) const

inline

Get current velocity.

◆ currentVelocity() [2/2]

bool hpp::pinocchio::AbstractDevice::currentVelocity ( vectorIn_t velocity )

Set current velocity.

◆ d() [1/2]

virtual DeviceData const & hpp::pinocchio::AbstractDevice::d ( ) const

protectedpure virtual

Implemented in hpp::pinocchio::DeviceSync, and hpp::pinocchio::Device.

◆ d() [2/2]

virtual DeviceData & hpp::pinocchio::AbstractDevice::d ( )

protectedpure virtual

Implemented in hpp::pinocchio::DeviceSync, and hpp::pinocchio::Device.

◆ data() [1/2]

Data & hpp::pinocchio::AbstractDevice::data ( )

inline

Access to Pinocchio data/.

◆ data() [2/2]

const Data & hpp::pinocchio::AbstractDevice::data ( ) const

inline

Access to Pinocchio data/.

◆ dataPtr() [1/2]

DataPtr_t hpp::pinocchio::AbstractDevice::dataPtr ( )

inline

Access to Pinocchio data/.

◆ dataPtr() [2/2]

DataConstPtr_t hpp::pinocchio::AbstractDevice::dataPtr ( ) const

inline

Access to Pinocchio data/.

◆ geomData() [1/2]

GeomData & hpp::pinocchio::AbstractDevice::geomData ( )

inline

Access to Pinocchio geomData/.

◆ geomData() [2/2]

const GeomData & hpp::pinocchio::AbstractDevice::geomData ( ) const

inline

Access to Pinocchio geomData/.

◆ geomDataPtr() [1/2]

GeomDataPtr_t hpp::pinocchio::AbstractDevice::geomDataPtr ( )

inline

Access to Pinocchio geomData/.

◆ geomDataPtr() [2/2]

GeomDataConstPtr_t hpp::pinocchio::AbstractDevice::geomDataPtr ( ) const

inline

Access to Pinocchio geomData/.

◆ geomModel() [1/2]

GeomModel & hpp::pinocchio::AbstractDevice::geomModel ( )

inline

Access to pinocchio geomModel.

◆ geomModel() [2/2]

const GeomModel & hpp::pinocchio::AbstractDevice::geomModel ( ) const

inline

Access to pinocchio geomModel.

◆ geomModelPtr() [1/2]

GeomModelPtr_t hpp::pinocchio::AbstractDevice::geomModelPtr ( )

inline

Access to pinocchio geomModel.

◆ geomModelPtr() [2/2]

GeomModelConstPtr_t hpp::pinocchio::AbstractDevice::geomModelPtr ( ) const

inline

Access to pinocchio geomModel.

◆ jacobianCenterOfMass()

const ComJacobian_t & hpp::pinocchio::AbstractDevice::jacobianCenterOfMass ( ) const

Get Jacobian of center of mass with respect to configuration.

◆ mass()

const value_type & hpp::pinocchio::AbstractDevice::mass ( ) const

Get mass of robot.

◆ model() [1/2]

Model & hpp::pinocchio::AbstractDevice::model ( )

inline

Access to pinocchio model.

◆ model() [2/2]

const Model & hpp::pinocchio::AbstractDevice::model ( ) const

inline

Access to pinocchio model.

◆ modelPtr() [1/2]

ModelPtr_t hpp::pinocchio::AbstractDevice::modelPtr ( )

inline

Access to pinocchio model.

◆ modelPtr() [2/2]

ModelConstPtr_t hpp::pinocchio::AbstractDevice::modelPtr ( ) const

inline

Access to pinocchio model.

◆ positionCenterOfMass()

const vector3_t & hpp::pinocchio::AbstractDevice::positionCenterOfMass ( ) const

Get position of center of mass.

◆ updateGeometryPlacements()

void hpp::pinocchio::AbstractDevice::updateGeometryPlacements ( )

inline

Update the geometry placement to the currentConfiguration.

Member Data Documentation

◆ geomModel_

GeomModelPtr_t hpp::pinocchio::AbstractDevice::geomModel_

protected

◆ model_

ModelPtr_t hpp::pinocchio::AbstractDevice::model_

protected

The documentation for this class was generated from the following file:

include/hpp/pinocchio/device-sync.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AbstractDevice() [1/2]

◆ AbstractDevice() [2/2]

Member Function Documentation

◆ computationFlag()

◆ computeForwardKinematics() [1/2]

◆ computeForwardKinematics() [2/2]

◆ computeFramesForwardKinematics()

◆ controlComputation()

◆ currentAcceleration() [1/2]

◆ currentAcceleration() [2/2]

◆ currentConfiguration() [1/2]

◆ currentConfiguration() [2/2]

◆ currentVelocity() [1/2]

◆ currentVelocity() [2/2]

◆ d() [1/2]

◆ d() [2/2]

◆ data() [1/2]

◆ data() [2/2]

◆ dataPtr() [1/2]

◆ dataPtr() [2/2]

◆ geomData() [1/2]

◆ geomData() [2/2]

◆ geomDataPtr() [1/2]

◆ geomDataPtr() [2/2]

◆ geomModel() [1/2]

◆ geomModel() [2/2]

◆ geomModelPtr() [1/2]

◆ geomModelPtr() [2/2]

◆ jacobianCenterOfMass()

◆ mass()

◆ model() [1/2]

◆ model() [2/2]

◆ modelPtr() [1/2]

◆ modelPtr() [2/2]

◆ positionCenterOfMass()

◆ updateGeometryPlacements()

Member Data Documentation

◆ geomModel_

◆ model_