hpp::pinocchio::CenterOfMassComputation Class Reference

Computation of the center of mass of a subtree of a kinematic tree. More...

#include <hpp/pinocchio/center-of-mass-computation.hh>

Public Types
typedef std::vector< JointIndex >	JointRootIndexes_t

Public Member Functions
void	add (const JointPtr_t &rootOfSubtree)
	Add a subtree to the computation of the center of mass. More...
void	compute (const Computation_t &flag=COMPUTE_ALL)
	Compute the center of mass and Jacobian of the sub-trees. More...
const vector3_t &	com () const
	Get center of mass of the subtree. More...
const value_type &	mass () const
	Get mass of the sub-tree. More...
const ComJacobian_t &	jacobian () const
	Get Jacobian of center of mass of the sub-tree. More...
const JointRootIndexes_t &	roots () const
	Get const reference to the vector of sub-tree roots. More...
	~CenterOfMassComputation ()

Static Public Member Functions
static CenterOfMassComputationPtr_t	create (const DevicePtr_t &device)
	Create instance and return shared pointer. More...

Protected Member Functions
	CenterOfMassComputation (const DevicePtr_t &device)

Detailed Description

Computation of the center of mass of a subtree of a kinematic tree.

To use this class, create an instance using CenterOfMassComputation::create method and call method CenterOfMassComputation::add with parameter the root joint of the subtree.

In most cases, the root joint of the subtree is the root joint of the robot (hpp::pinocchio::Device::rootJoint ()), but in a manipulation context, the kinematic tree contains several robots and objects. This class enables users to compute the center of mass of only one robot or object.

Member Typedef Documentation

typedef std::vector<JointIndex> hpp::pinocchio::CenterOfMassComputation::JointRootIndexes_t

Constructor & Destructor Documentation

hpp::pinocchio::CenterOfMassComputation::~CenterOfMassComputation

(

)

Referenced by roots().

hpp::pinocchio::CenterOfMassComputation::CenterOfMassComputation ( const DevicePtr_t &  device )

protected

Referenced by roots().

Member Function Documentation

void hpp::pinocchio::CenterOfMassComputation::add

(

const JointPtr_t &

rootOfSubtree

)

Add a subtree to the computation of the center of mass.

When several subtrees are provided, method compute computes the center of mass of the union of the subtrees.

const vector3_t& hpp::pinocchio::CenterOfMassComputation::com ( ) const

inline

Get center of mass of the subtree.

References pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::com.

void hpp::pinocchio::CenterOfMassComputation::compute

(

const Computation_t &

flag = COMPUTE_ALL

)

Compute the center of mass and Jacobian of the sub-trees.

static CenterOfMassComputationPtr_t hpp::pinocchio::CenterOfMassComputation::create ( const DevicePtr_t &  device )

static

Create instance and return shared pointer.

Do not forget to call method add to specify the root joint of relevant kinematic tree.

const ComJacobian_t& hpp::pinocchio::CenterOfMassComputation::jacobian ( ) const

inline

Get Jacobian of center of mass of the sub-tree.

References pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::Jcom.

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

inline

Get mass of the sub-tree.

References pinocchio::DataTpl< _Scalar, _Options, JointCollectionTpl >::mass.

const JointRootIndexes_t& hpp::pinocchio::CenterOfMassComputation::roots ( ) const

inline

Get const reference to the vector of sub-tree roots.

References CenterOfMassComputation(), and ~CenterOfMassComputation().