hpp-pinocchio 6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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device-data.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
26// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
27// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
29// DAMAGE.
30
31#ifndef HPP_PINOCCHIO_DEVICE_DATA_HH
32#define HPP_PINOCCHIO_DEVICE_DATA_HH
33
35#include <hpp/pinocchio/fwd.hh>
36#include <hpp/util/debug.hh>
37
38namespace hpp {
39namespace pinocchio {
42 JACOBIAN = 0x2,
43 VELOCITY = 0x4,
45 COM = 0xf,
46 COMPUTE_ALL = 0Xffff
47};
48
83} // namespace pinocchio
84} // namespace hpp
85
86#endif // HPP_PINOCCHIO_DEVICE_DATA_HH
Computation_t
Definition device-data.hh:40
@ COMPUTE_ALL
Definition device-data.hh:46
@ JACOBIAN
Definition device-data.hh:42
@ JOINT_POSITION
Definition device-data.hh:41
@ ACCELERATION
Definition device-data.hh:44
@ VELOCITY
Definition device-data.hh:43
@ COM
Definition device-data.hh:45
shared_ptr< GeomModel > GeomModelPtr_t
Definition fwd.hh:133
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition fwd.hh:88
shared_ptr< GeomData > GeomDataPtr_t
Definition fwd.hh:135
vector_t Configuration_t
Definition fwd.hh:89
shared_ptr< Model > ModelPtr_t
Definition fwd.hh:128
shared_ptr< Data > DataPtr_t
Definition fwd.hh:130
Utility functions.
Definition body.hh:39
Definition collision-object.hh:40
Definition device-data.hh:51
Configuration_t modelConf_
Temporary variable to avoid dynamic allocation.
Definition device-data.hh:79
void computeForwardKinematics(const ModelPtr_t &m, int flag)
void computeFramesForwardKinematics(const ModelPtr_t &m)
vector_t currentVelocity_
Definition device-data.hh:72
GeomDataPtr_t geomData_
Definition device-data.hh:69
DataPtr_t data_
Definition device-data.hh:68
void updateGeometryPlacements(const ModelPtr_t &m, const GeomModelPtr_t &gm)
vector_t currentAcceleration_
Definition device-data.hh:73
bool frameUpToDate_
Definition device-data.hh:75
int dataUpToDate_
Definition device-data.hh:74
std::vector< JointJacobian_t > jointJacobians_
Pool of joint jacobians.
Definition device-data.hh:81
DeviceData(const DeviceData &other)
bool geomUpToDate_
Definition device-data.hh:75
DeviceWkPtr_t devicePtr_
Definition device-data.hh:76
void invalidate()
Definition device-data.hh:55
Configuration_t currentConfiguration_
Definition device-data.hh:71