hpp::pinocchio::CenterOfMassComputation Class Reference

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

Public Types
typedef std::vector< std::size_t >	JointRootIndexes_t

Public Member Functions
void	add (const JointPtr_t &rootOfSubtree)
void	compute (const Computation_t &flag=COMPUTE_ALL)
void	compute (DeviceData &data, const Computation_t &flag)
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)
static const vector3_t &	com (const DeviceData &d)
	Get center of mass of the subtree. More...
static const value_type &	mass (const DeviceData &d)
	Get mass of the sub-tree. More...
static const ComJacobian_t &	jacobian (const DeviceData &d)
	Get Jacobian of center of mass of the sub-tree. 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

JointRootIndexes_t

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

Constructor & Destructor Documentation

~CenterOfMassComputation()

hpp::pinocchio::CenterOfMassComputation::~CenterOfMassComputation

(

)

CenterOfMassComputation()

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

protected

Member Function Documentation

add()

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.

com() [1/2]

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

inline

Get center of mass of the subtree.

com() [2/2]

static const vector3_t& hpp::pinocchio::CenterOfMassComputation::com ( const DeviceData &  d )

inlinestatic

Get center of mass of the subtree.

Parameters

d	the data where results were written (passed to compute(const DeviceData&, const Computation_t&)).

compute() [1/2]

void hpp::pinocchio::CenterOfMassComputation::compute ( const Computation_t &  flag = COMPUTE_ALL )

inline

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

Parameters

flag	select which values must be computed.

compute() [2/2]

void hpp::pinocchio::CenterOfMassComputation::compute	(	DeviceData &	data,
		const Computation_t &	flag
	)

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

Parameters

flag	select which values must be computed.
data	where to write results.

create()

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.

jacobian() [1/2]

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

inline

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

jacobian() [2/2]

static const ComJacobian_t& hpp::pinocchio::CenterOfMassComputation::jacobian ( const DeviceData &  d )

inlinestatic

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

Parameters

d	the data where results were written (passed to compute(const DeviceData&, const Computation_t&)).

mass() [1/2]

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

inline

Get mass of the sub-tree.

mass() [2/2]

static const value_type& hpp::pinocchio::CenterOfMassComputation::mass ( const DeviceData &  d )

inlinestatic

Get mass of the sub-tree.

Parameters

d	the data where results were written (passed to compute(const DeviceData&, const Computation_t&)).

roots()

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

inline

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

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

• include/hpp/pinocchio/center-of-mass-computation.hh