hpp-pinocchio 6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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device-sync.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,
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30
31#ifndef HPP_PINOCCHIO_DEVICE_SYNC_HH
32#define HPP_PINOCCHIO_DEVICE_SYNC_HH
33
36#include <hpp/pinocchio/fwd.hh>
37
38namespace hpp {
39namespace pinocchio {
42 public:
45
47 ModelConstPtr_t modelPtr() const { return model_; }
49 ModelPtr_t modelPtr() { return model_; }
51 const Model& model() const {
52 assert(model_);
53 return *model_;
54 }
57 assert(model_);
58 return *model_;
59 }
60
62 GeomModelConstPtr_t geomModelPtr() const { return geomModel_; }
64 GeomModelPtr_t geomModelPtr() { return geomModel_; }
66 const GeomModel& geomModel() const {
67 assert(geomModel_);
68 return *geomModel_;
69 }
72 assert(geomModel_);
73 return *geomModel_;
74 }
75
77 DataConstPtr_t dataPtr() const { return d().data_; }
79 DataPtr_t dataPtr() { return d().data_; }
81 const Data& data() const {
82 assert(d().data_);
83 return *d().data_;
84 }
87 assert(d().data_);
88 return *d().data_;
89 }
90
92 GeomDataConstPtr_t geomDataPtr() const { return d().geomData_; }
94 GeomDataPtr_t geomDataPtr() { return d().geomData_; }
96 const GeomData& geomData() const {
97 assert(d().geomData_);
98 return *d().geomData_;
99 }
102 assert(d().geomData_);
103 return *d().geomData_;
104 }
105
107 // -----------------------------------------------------------------------
110
113 return d().currentConfiguration_;
114 }
118 virtual bool currentConfiguration(ConfigurationIn_t configuration);
119
121 const vector_t& currentVelocity() const { return d().currentVelocity_; }
122
125
128 return d().currentAcceleration_;
129 }
130
132 bool currentAcceleration(vectorIn_t acceleration);
134 // -----------------------------------------------------------------------
137
139 const value_type& mass() const;
140
143
146
148 // -----------------------------------------------------------------------
151
165 d().computeForwardKinematics(modelPtr(), flag);
166 }
170 d().computeFramesForwardKinematics(modelPtr());
171 }
174 d().updateGeometryPlacements(modelPtr(), geomModelPtr());
175 }
177 // -----------------------------------------------------------------------
178 protected:
181
182 virtual DeviceData& d() = 0;
183 virtual DeviceData const& d() const = 0;
184
185 // Pinocchio objects
188}; // class AbstractDevice
189
213 public:
217 DeviceSync(const DevicePtr_t& device, bool lock = true);
218
221 virtual ~DeviceSync();
222
226 assert(isLocked());
227 return *d_;
228 }
231 DeviceData const& d() const {
232 assert(isLocked());
233 return *d_;
234 }
235
237 void lock();
239 bool isLocked() const { return d_ != NULL; }
241 void unlock();
242
243 private:
244 DevicePtr_t device_;
245 DeviceData* d_;
246}; // class DeviceSync
247} // namespace pinocchio
248} // namespace hpp
249
250#endif // HPP_PINOCCHIO_DEVICE_SYNC_HH
Abstract class representing a Device.
Definition device-sync.hh:41
virtual DeviceData & d()=0
ModelPtr_t model_
Definition device-sync.hh:186
void computeFramesForwardKinematics()
Definition device-sync.hh:169
const vector_t & currentVelocity() const
Get current velocity.
Definition device-sync.hh:121
const value_type & mass() const
Get mass of robot.
GeomData & geomData()
Access to Pinocchio geomData/.
Definition device-sync.hh:101
virtual bool currentConfiguration(ConfigurationIn_t configuration)
GeomDataPtr_t geomDataPtr()
Access to Pinocchio geomData/.
Definition device-sync.hh:94
void computeForwardKinematics()
Compute forward kinematics computing everything.
Definition device-sync.hh:160
GeomModelConstPtr_t geomModelPtr() const
Access to pinocchio geomModel.
Definition device-sync.hh:62
const GeomData & geomData() const
Access to Pinocchio geomData/.
Definition device-sync.hh:96
void updateGeometryPlacements()
Update the geometry placement to the currentConfiguration.
Definition device-sync.hh:173
ModelConstPtr_t modelPtr() const
Access to pinocchio model.
Definition device-sync.hh:47
const Configuration_t & currentConfiguration() const
Get current configuration.
Definition device-sync.hh:112
Model & model()
Access to pinocchio model.
Definition device-sync.hh:56
Data & data()
Access to Pinocchio data/.
Definition device-sync.hh:86
GeomDataConstPtr_t geomDataPtr() const
Access to Pinocchio geomData/.
Definition device-sync.hh:92
const vector3_t & positionCenterOfMass() const
Get position of center of mass.
const GeomModel & geomModel() const
Access to pinocchio geomModel.
Definition device-sync.hh:66
GeomModel & geomModel()
Access to pinocchio geomModel.
Definition device-sync.hh:71
AbstractDevice(const ModelPtr_t &m, const GeomModelPtr_t &gm)
HPP_PINOCCHIO_DEPRECATED void controlComputation(const Computation_t &)
Definition device-sync.hh:154
DataPtr_t dataPtr()
Access to Pinocchio data/.
Definition device-sync.hh:79
DataConstPtr_t dataPtr() const
Access to Pinocchio data/.
Definition device-sync.hh:77
void computeForwardKinematics(int flag)
Definition device-sync.hh:164
bool currentVelocity(vectorIn_t velocity)
Set current velocity.
HPP_PINOCCHIO_DEPRECATED Computation_t computationFlag() const
Definition device-sync.hh:156
GeomModelPtr_t geomModelPtr()
Access to pinocchio geomModel.
Definition device-sync.hh:64
const Model & model() const
Access to pinocchio model.
Definition device-sync.hh:51
GeomModelPtr_t geomModel_
Definition device-sync.hh:187
virtual DeviceData const & d() const =0
const ComJacobian_t & jacobianCenterOfMass() const
Get Jacobian of center of mass with respect to configuration.
ModelPtr_t modelPtr()
Access to pinocchio model.
Definition device-sync.hh:49
bool currentAcceleration(vectorIn_t acceleration)
Set current acceleration.
const Data & data() const
Access to Pinocchio data/.
Definition device-sync.hh:81
const vector_t & currentAcceleration() const
Get current acceleration.
Definition device-sync.hh:127
Definition device-sync.hh:212
DeviceData const & d() const
Definition device-sync.hh:231
void lock()
Lock the current DeviceData.
DeviceData & d()
Definition device-sync.hh:225
bool isLocked() const
Check if the current DeviceData is locked.
Definition device-sync.hh:239
DeviceSync(const DevicePtr_t &device, bool lock=true)
void unlock()
Unlock the current DeviceData.
#define HPP_PINOCCHIO_DLLAPI
Definition config.hh:88
shared_ptr< Device > DevicePtr_t
Definition fwd.hh:118
shared_ptr< const GeomData > GeomDataConstPtr_t
Definition fwd.hh:136
Computation_t
Definition device-data.hh:40
@ COMPUTE_ALL
Definition device-data.hh:46
shared_ptr< GeomModel > GeomModelPtr_t
Definition fwd.hh:133
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition fwd.hh:77
::pinocchio::GeometryData GeomData
Definition fwd.hh:80
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition fwd.hh:88
shared_ptr< const Data > DataConstPtr_t
Definition fwd.hh:131
shared_ptr< Configuration_t > ConfigurationPtr_t HPP_PINOCCHIO_DEPRECATED
Definition fwd.hh:92
shared_ptr< GeomData > GeomDataPtr_t
Definition fwd.hh:135
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition fwd.hh:99
shared_ptr< const Model > ModelConstPtr_t
Definition fwd.hh:129
double value_type
Definition fwd.hh:51
vector_t Configuration_t
Definition fwd.hh:89
::pinocchio::DataTpl< value_type, 0, JointCollectionTpl > Data
Definition fwd.hh:78
::pinocchio::GeometryModel GeomModel
Definition fwd.hh:79
shared_ptr< const GeomModel > GeomModelConstPtr_t
Definition fwd.hh:134
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition fwd.hh:102
shared_ptr< Model > ModelPtr_t
Definition fwd.hh:128
Eigen::Ref< const vector_t > vectorIn_t
Definition fwd.hh:93
shared_ptr< Data > DataPtr_t
Definition fwd.hh:130
Eigen::Ref< const Configuration_t > ConfigurationIn_t
Definition fwd.hh:90
Utility functions.
Definition body.hh:39
Definition collision-object.hh:40
Definition device-data.hh:51