| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2017 CNRS |
| 3 |
|
|
// |
| 4 |
|
|
// This file is part of tsid |
| 5 |
|
|
// tsid is free software: you can redistribute it |
| 6 |
|
|
// and/or modify it under the terms of the GNU Lesser General Public |
| 7 |
|
|
// License as published by the Free Software Foundation, either version |
| 8 |
|
|
// 3 of the License, or (at your option) any later version. |
| 9 |
|
|
// tsid is distributed in the hope that it will be |
| 10 |
|
|
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
| 11 |
|
|
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
| 12 |
|
|
// General Lesser Public License for more details. You should have |
| 13 |
|
|
// received a copy of the GNU Lesser General Public License along with |
| 14 |
|
|
// tsid If not, see |
| 15 |
|
|
// <http://www.gnu.org/licenses/>. |
| 16 |
|
|
// |
| 17 |
|
|
|
| 18 |
|
|
#include "tsid/robots/robot-wrapper.hpp" |
| 19 |
|
|
|
| 20 |
|
|
#include <pinocchio/multibody/model.hpp> |
| 21 |
|
|
#include <pinocchio/parsers/urdf.hpp> |
| 22 |
|
|
#include <pinocchio/algorithm/center-of-mass.hpp> |
| 23 |
|
|
#include <pinocchio/algorithm/compute-all-terms.hpp> |
| 24 |
|
|
#include <pinocchio/algorithm/jacobian.hpp> |
| 25 |
|
|
#include <pinocchio/algorithm/frames.hpp> |
| 26 |
|
|
#include <pinocchio/algorithm/centroidal.hpp> |
| 27 |
|
|
|
| 28 |
|
|
using namespace pinocchio; |
| 29 |
|
|
using namespace tsid::math; |
| 30 |
|
|
|
| 31 |
|
|
namespace tsid { |
| 32 |
|
|
namespace robots { |
| 33 |
|
|
|
| 34 |
|
✗ |
RobotWrapper::RobotWrapper(const std::string& filename, |
| 35 |
|
✗ |
const std::vector<std::string>&, bool verbose) |
| 36 |
|
✗ |
: m_verbose(verbose) { |
| 37 |
|
✗ |
pinocchio::urdf::buildModel(filename, m_model, m_verbose); |
| 38 |
|
✗ |
m_model_filename = filename; |
| 39 |
|
✗ |
m_na = m_model.nv; |
| 40 |
|
✗ |
m_nq_actuated = m_model.nq; |
| 41 |
|
✗ |
m_is_fixed_base = true; |
| 42 |
|
✗ |
init(); |
| 43 |
|
|
} |
| 44 |
|
|
|
| 45 |
|
✗ |
RobotWrapper::RobotWrapper(const std::string& filename, |
| 46 |
|
|
const std::vector<std::string>&, |
| 47 |
|
|
const pinocchio::JointModelVariant& rootJoint, |
| 48 |
|
✗ |
bool verbose) |
| 49 |
|
✗ |
: m_verbose(verbose) { |
| 50 |
|
✗ |
pinocchio::urdf::buildModel(filename, rootJoint, m_model, m_verbose); |
| 51 |
|
✗ |
m_model_filename = filename; |
| 52 |
|
✗ |
m_na = m_model.nv - 6; |
| 53 |
|
✗ |
m_nq_actuated = m_model.nq - 7; |
| 54 |
|
✗ |
m_is_fixed_base = false; |
| 55 |
|
✗ |
init(); |
| 56 |
|
|
} |
| 57 |
|
|
|
| 58 |
|
✗ |
RobotWrapper::RobotWrapper(const pinocchio::Model& m, bool verbose) |
| 59 |
|
✗ |
: m_verbose(verbose) { |
| 60 |
|
✗ |
m_model = m; |
| 61 |
|
✗ |
m_model_filename = ""; |
| 62 |
|
✗ |
m_na = m_model.nv - 6; |
| 63 |
|
✗ |
m_nq_actuated = m_model.nq - 7; |
| 64 |
|
✗ |
m_is_fixed_base = false; |
| 65 |
|
✗ |
init(); |
| 66 |
|
|
} |
| 67 |
|
|
|
| 68 |
|
✗ |
RobotWrapper::RobotWrapper(const pinocchio::Model& m, RootJointType rootJoint, |
| 69 |
|
✗ |
bool verbose) |
| 70 |
|
✗ |
: m_verbose(verbose) { |
| 71 |
|
✗ |
m_model = m; |
| 72 |
|
✗ |
m_model_filename = ""; |
| 73 |
|
✗ |
m_na = m_model.nv; |
| 74 |
|
✗ |
m_nq_actuated = m_model.nq; |
| 75 |
|
✗ |
m_is_fixed_base = true; |
| 76 |
|
✗ |
switch (rootJoint) { |
| 77 |
|
✗ |
case FIXED_BASE_SYSTEM: |
| 78 |
|
✗ |
break; |
| 79 |
|
✗ |
case FLOATING_BASE_SYSTEM: |
| 80 |
|
✗ |
m_na -= 6; |
| 81 |
|
✗ |
m_nq_actuated = m_model.nq - 7; |
| 82 |
|
✗ |
m_is_fixed_base = false; |
| 83 |
|
✗ |
default: |
| 84 |
|
✗ |
break; |
| 85 |
|
|
} |
| 86 |
|
✗ |
init(); |
| 87 |
|
|
} |
| 88 |
|
|
|
| 89 |
|
✗ |
void RobotWrapper::init() { |
| 90 |
|
✗ |
m_rotor_inertias.setZero(m_na); |
| 91 |
|
✗ |
m_gear_ratios.setZero(m_na); |
| 92 |
|
✗ |
m_Md.setZero(m_na); |
| 93 |
|
✗ |
m_M.setZero(m_model.nv, m_model.nv); |
| 94 |
|
|
} |
| 95 |
|
|
|
| 96 |
|
✗ |
int RobotWrapper::nq() const { return m_model.nq; } |
| 97 |
|
✗ |
int RobotWrapper::nv() const { return m_model.nv; } |
| 98 |
|
✗ |
int RobotWrapper::na() const { return m_na; } |
| 99 |
|
✗ |
int RobotWrapper::nq_actuated() const { return m_nq_actuated; } |
| 100 |
|
✗ |
bool RobotWrapper::is_fixed_base() const { return m_is_fixed_base; } |
| 101 |
|
|
|
| 102 |
|
✗ |
const Model& RobotWrapper::model() const { return m_model; } |
| 103 |
|
✗ |
Model& RobotWrapper::model() { return m_model; } |
| 104 |
|
|
|
| 105 |
|
✗ |
void RobotWrapper::computeAllTerms(Data& data, const Vector& q, |
| 106 |
|
|
const Vector& v) const { |
| 107 |
|
✗ |
pinocchio::computeAllTerms(m_model, data, q, v); |
| 108 |
|
✗ |
data.M.triangularView<Eigen::StrictlyLower>() = |
| 109 |
|
✗ |
data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 110 |
|
|
// computeAllTerms does not compute the com acceleration, so we need to call |
| 111 |
|
|
// centerOfMass Check this line, calling with zero acceleration at the last |
| 112 |
|
|
// phase compute the CoM acceleration. |
| 113 |
|
|
// pinocchio::centerOfMass(m_model, data, q,v,false); |
| 114 |
|
✗ |
pinocchio::updateFramePlacements(m_model, data); |
| 115 |
|
✗ |
pinocchio::centerOfMass(m_model, data, q, v, Eigen::VectorXd::Zero(nv())); |
| 116 |
|
✗ |
pinocchio::ccrba(m_model, data, q, v); |
| 117 |
|
|
} |
| 118 |
|
|
|
| 119 |
|
✗ |
const Vector& RobotWrapper::rotor_inertias() const { return m_rotor_inertias; } |
| 120 |
|
✗ |
const Vector& RobotWrapper::gear_ratios() const { return m_gear_ratios; } |
| 121 |
|
|
|
| 122 |
|
✗ |
bool RobotWrapper::rotor_inertias(ConstRefVector rotor_inertias) { |
| 123 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 124 |
|
|
rotor_inertias.size() == m_rotor_inertias.size(), |
| 125 |
|
|
"The size of the rotor_inertias vector is incorrect!"); |
| 126 |
|
✗ |
m_rotor_inertias = rotor_inertias; |
| 127 |
|
✗ |
updateMd(); |
| 128 |
|
✗ |
return true; |
| 129 |
|
|
} |
| 130 |
|
|
|
| 131 |
|
✗ |
bool RobotWrapper::gear_ratios(ConstRefVector gear_ratios) { |
| 132 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 133 |
|
|
gear_ratios.size() == m_gear_ratios.size(), |
| 134 |
|
|
"The size of the gear_ratios vector is incorrect!"); |
| 135 |
|
✗ |
m_gear_ratios = gear_ratios; |
| 136 |
|
✗ |
updateMd(); |
| 137 |
|
✗ |
return true; |
| 138 |
|
|
} |
| 139 |
|
|
|
| 140 |
|
✗ |
void RobotWrapper::updateMd() { |
| 141 |
|
|
m_Md = |
| 142 |
|
✗ |
m_gear_ratios.cwiseProduct(m_gear_ratios.cwiseProduct(m_rotor_inertias)); |
| 143 |
|
|
} |
| 144 |
|
|
|
| 145 |
|
✗ |
void RobotWrapper::com(const Data& data, RefVector com_pos, RefVector com_vel, |
| 146 |
|
|
RefVector com_acc) const { |
| 147 |
|
✗ |
com_pos = data.com[0]; |
| 148 |
|
✗ |
com_vel = data.vcom[0]; |
| 149 |
|
✗ |
com_acc = data.acom[0]; |
| 150 |
|
|
} |
| 151 |
|
|
|
| 152 |
|
✗ |
const Vector3& RobotWrapper::com(const Data& data) const { return data.com[0]; } |
| 153 |
|
|
|
| 154 |
|
✗ |
const Vector3& RobotWrapper::com_vel(const Data& data) const { |
| 155 |
|
✗ |
return data.vcom[0]; |
| 156 |
|
|
} |
| 157 |
|
|
|
| 158 |
|
✗ |
const Vector3& RobotWrapper::com_acc(const Data& data) const { |
| 159 |
|
✗ |
return data.acom[0]; |
| 160 |
|
|
} |
| 161 |
|
|
|
| 162 |
|
✗ |
const Matrix3x& RobotWrapper::Jcom(const Data& data) const { return data.Jcom; } |
| 163 |
|
|
|
| 164 |
|
✗ |
const Matrix& RobotWrapper::mass(const Data& data) { |
| 165 |
|
✗ |
m_M = data.M; |
| 166 |
|
✗ |
m_M.diagonal().tail(m_na) += m_Md; |
| 167 |
|
✗ |
return m_M; |
| 168 |
|
|
} |
| 169 |
|
|
|
| 170 |
|
✗ |
const Vector& RobotWrapper::nonLinearEffects(const Data& data) const { |
| 171 |
|
✗ |
return data.nle; |
| 172 |
|
|
} |
| 173 |
|
|
|
| 174 |
|
✗ |
const SE3& RobotWrapper::position(const Data& data, |
| 175 |
|
|
const Model::JointIndex index) const { |
| 176 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 177 |
|
|
index < data.oMi.size(), |
| 178 |
|
|
"The index needs to be less than the size of the oMi vector"); |
| 179 |
|
✗ |
return data.oMi[index]; |
| 180 |
|
|
} |
| 181 |
|
|
|
| 182 |
|
✗ |
const Motion& RobotWrapper::velocity(const Data& data, |
| 183 |
|
|
const Model::JointIndex index) const { |
| 184 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 185 |
|
|
index < data.v.size(), |
| 186 |
|
|
"The index needs to be less than the size of the v vector"); |
| 187 |
|
✗ |
return data.v[index]; |
| 188 |
|
|
} |
| 189 |
|
|
|
| 190 |
|
✗ |
const Motion& RobotWrapper::acceleration(const Data& data, |
| 191 |
|
|
const Model::JointIndex index) const { |
| 192 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 193 |
|
|
index < data.a.size(), |
| 194 |
|
|
"The index needs to be less than the size of the a vector"); |
| 195 |
|
✗ |
return data.a[index]; |
| 196 |
|
|
} |
| 197 |
|
|
|
| 198 |
|
✗ |
void RobotWrapper::jacobianWorld(const Data& data, |
| 199 |
|
|
const Model::JointIndex index, |
| 200 |
|
|
Data::Matrix6x& J) const { |
| 201 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 202 |
|
|
index < data.oMi.size(), |
| 203 |
|
|
"The index needs to be less than the size of the oMi vector"); |
| 204 |
|
✗ |
return pinocchio::getJointJacobian(m_model, data, index, pinocchio::WORLD, J); |
| 205 |
|
|
} |
| 206 |
|
|
|
| 207 |
|
✗ |
void RobotWrapper::jacobianLocal(const Data& data, |
| 208 |
|
|
const Model::JointIndex index, |
| 209 |
|
|
Data::Matrix6x& J) const { |
| 210 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 211 |
|
|
index < data.oMi.size(), |
| 212 |
|
|
"The index needs to be less than the size of the oMi vector"); |
| 213 |
|
✗ |
return pinocchio::getJointJacobian(m_model, data, index, pinocchio::LOCAL, J); |
| 214 |
|
|
} |
| 215 |
|
|
|
| 216 |
|
✗ |
SE3 RobotWrapper::framePosition(const Data& data, |
| 217 |
|
|
const Model::FrameIndex index) const { |
| 218 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 219 |
|
|
"Frame index greater than size of frame " |
| 220 |
|
|
"vector in model - frame may not exist"); |
| 221 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 222 |
|
✗ |
return data.oMi[f.parent].act(f.placement); |
| 223 |
|
|
} |
| 224 |
|
|
|
| 225 |
|
✗ |
void RobotWrapper::framePosition(const Data& data, |
| 226 |
|
|
const Model::FrameIndex index, |
| 227 |
|
|
SE3& framePosition) const { |
| 228 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 229 |
|
|
"Frame index greater than size of frame " |
| 230 |
|
|
"vector in model - frame may not exist"); |
| 231 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 232 |
|
✗ |
framePosition = data.oMi[f.parent].act(f.placement); |
| 233 |
|
|
} |
| 234 |
|
|
|
| 235 |
|
✗ |
Motion RobotWrapper::frameVelocity(const Data& data, |
| 236 |
|
|
const Model::FrameIndex index) const { |
| 237 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 238 |
|
|
"Frame index greater than size of frame " |
| 239 |
|
|
"vector in model - frame may not exist"); |
| 240 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 241 |
|
✗ |
return f.placement.actInv(data.v[f.parent]); |
| 242 |
|
|
} |
| 243 |
|
|
|
| 244 |
|
✗ |
void RobotWrapper::frameVelocity(const Data& data, |
| 245 |
|
|
const Model::FrameIndex index, |
| 246 |
|
|
Motion& frameVelocity) const { |
| 247 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 248 |
|
|
"Frame index greater than size of frame " |
| 249 |
|
|
"vector in model - frame may not exist"); |
| 250 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 251 |
|
✗ |
frameVelocity = f.placement.actInv(data.v[f.parent]); |
| 252 |
|
|
} |
| 253 |
|
|
|
| 254 |
|
✗ |
Motion RobotWrapper::frameVelocityWorldOriented( |
| 255 |
|
|
const Data& data, const Model::FrameIndex index) const { |
| 256 |
|
✗ |
Motion v_local, v_world; |
| 257 |
|
✗ |
SE3 oMi, oMi_rotation_only; |
| 258 |
|
✗ |
framePosition(data, index, oMi); |
| 259 |
|
✗ |
frameVelocity(data, index, v_local); |
| 260 |
|
✗ |
oMi_rotation_only.rotation(oMi.rotation()); |
| 261 |
|
✗ |
v_world = oMi_rotation_only.act(v_local); |
| 262 |
|
✗ |
return v_world; |
| 263 |
|
|
} |
| 264 |
|
|
|
| 265 |
|
✗ |
Motion RobotWrapper::frameAcceleration(const Data& data, |
| 266 |
|
|
const Model::FrameIndex index) const { |
| 267 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 268 |
|
|
"Frame index greater than size of frame " |
| 269 |
|
|
"vector in model - frame may not exist"); |
| 270 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 271 |
|
✗ |
return f.placement.actInv(data.a[f.parent]); |
| 272 |
|
|
} |
| 273 |
|
|
|
| 274 |
|
✗ |
void RobotWrapper::frameAcceleration(const Data& data, |
| 275 |
|
|
const Model::FrameIndex index, |
| 276 |
|
|
Motion& frameAcceleration) const { |
| 277 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 278 |
|
|
"Frame index greater than size of frame " |
| 279 |
|
|
"vector in model - frame may not exist"); |
| 280 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 281 |
|
✗ |
frameAcceleration = f.placement.actInv(data.a[f.parent]); |
| 282 |
|
|
} |
| 283 |
|
|
|
| 284 |
|
✗ |
Motion RobotWrapper::frameAccelerationWorldOriented( |
| 285 |
|
|
const Data& data, const Model::FrameIndex index) const { |
| 286 |
|
✗ |
Motion a_local, a_world; |
| 287 |
|
✗ |
SE3 oMi, oMi_rotation_only; |
| 288 |
|
✗ |
framePosition(data, index, oMi); |
| 289 |
|
✗ |
frameAcceleration(data, index, a_local); |
| 290 |
|
✗ |
oMi_rotation_only.rotation(oMi.rotation()); |
| 291 |
|
✗ |
a_world = oMi_rotation_only.act(a_local); |
| 292 |
|
✗ |
return a_world; |
| 293 |
|
|
} |
| 294 |
|
|
|
| 295 |
|
✗ |
Motion RobotWrapper::frameClassicAcceleration( |
| 296 |
|
|
const Data& data, const Model::FrameIndex index) const { |
| 297 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 298 |
|
|
"Frame index greater than size of frame " |
| 299 |
|
|
"vector in model - frame may not exist"); |
| 300 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 301 |
|
✗ |
Motion a = f.placement.actInv(data.a[f.parent]); |
| 302 |
|
✗ |
Motion v = f.placement.actInv(data.v[f.parent]); |
| 303 |
|
✗ |
a.linear() += v.angular().cross(v.linear()); |
| 304 |
|
✗ |
return a; |
| 305 |
|
|
} |
| 306 |
|
|
|
| 307 |
|
✗ |
void RobotWrapper::frameClassicAcceleration(const Data& data, |
| 308 |
|
|
const Model::FrameIndex index, |
| 309 |
|
|
Motion& frameAcceleration) const { |
| 310 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 311 |
|
|
"Frame index greater than size of frame " |
| 312 |
|
|
"vector in model - frame may not exist"); |
| 313 |
|
✗ |
const Frame& f = m_model.frames[index]; |
| 314 |
|
✗ |
frameAcceleration = f.placement.actInv(data.a[f.parent]); |
| 315 |
|
✗ |
Motion v = f.placement.actInv(data.v[f.parent]); |
| 316 |
|
✗ |
frameAcceleration.linear() += v.angular().cross(v.linear()); |
| 317 |
|
|
} |
| 318 |
|
|
|
| 319 |
|
✗ |
Motion RobotWrapper::frameClassicAccelerationWorldOriented( |
| 320 |
|
|
const Data& data, const Model::FrameIndex index) const { |
| 321 |
|
✗ |
Motion a_local, a_world; |
| 322 |
|
✗ |
SE3 oMi, oMi_rotation_only; |
| 323 |
|
✗ |
framePosition(data, index, oMi); |
| 324 |
|
✗ |
frameClassicAcceleration(data, index, a_local); |
| 325 |
|
✗ |
oMi_rotation_only.rotation(oMi.rotation()); |
| 326 |
|
✗ |
a_world = oMi_rotation_only.act(a_local); |
| 327 |
|
✗ |
return a_world; |
| 328 |
|
|
} |
| 329 |
|
|
|
| 330 |
|
✗ |
void RobotWrapper::frameJacobianWorld(Data& data, const Model::FrameIndex index, |
| 331 |
|
|
Data::Matrix6x& J) const { |
| 332 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 333 |
|
|
"Frame index greater than size of frame " |
| 334 |
|
|
"vector in model - frame may not exist"); |
| 335 |
|
✗ |
return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J); |
| 336 |
|
|
} |
| 337 |
|
|
|
| 338 |
|
✗ |
void RobotWrapper::frameJacobianLocal(Data& data, const Model::FrameIndex index, |
| 339 |
|
|
Data::Matrix6x& J) const { |
| 340 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT(index < m_model.frames.size(), |
| 341 |
|
|
"Frame index greater than size of frame " |
| 342 |
|
|
"vector in model - frame may not exist"); |
| 343 |
|
✗ |
return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL, J); |
| 344 |
|
|
} |
| 345 |
|
|
|
| 346 |
|
✗ |
const Data::Matrix6x& RobotWrapper::momentumJacobian(const Data& data) const { |
| 347 |
|
✗ |
return data.Ag; |
| 348 |
|
|
} |
| 349 |
|
|
|
| 350 |
|
✗ |
Vector3 RobotWrapper::angularMomentumTimeVariation(const Data& data) const { |
| 351 |
|
✗ |
return pinocchio::computeCentroidalMomentumTimeVariation( |
| 352 |
|
✗ |
m_model, const_cast<Data&>(data)) |
| 353 |
|
✗ |
.angular(); |
| 354 |
|
|
} |
| 355 |
|
|
|
| 356 |
|
✗ |
void RobotWrapper::setGravity(const Motion& gravity) { |
| 357 |
|
✗ |
m_model.gravity = gravity; |
| 358 |
|
|
} |
| 359 |
|
|
|
| 360 |
|
|
// const Vector3 & com(Data & data,const Vector & q, |
| 361 |
|
|
// const bool computeSubtreeComs = true, |
| 362 |
|
|
// const bool updateKinematics = true) |
| 363 |
|
|
// { |
| 364 |
|
|
// return pinocchio::centerOfMass(m_model, data, q, computeSubtreeComs, |
| 365 |
|
|
// updateKinematics); |
| 366 |
|
|
// } |
| 367 |
|
|
// const Vector3 & com(Data & data, const Vector & q, const Vector & v, |
| 368 |
|
|
// const bool computeSubtreeComs = true, |
| 369 |
|
|
// const bool updateKinematics = true) |
| 370 |
|
|
// { |
| 371 |
|
|
// return pinocchio::centerOfMass(m_model, data, q, v, computeSubtreeComs, |
| 372 |
|
|
// updateKinematics); |
| 373 |
|
|
// } |
| 374 |
|
|
|
| 375 |
|
|
} // namespace robots |
| 376 |
|
|
} // namespace tsid |
| 377 |
|
|
|