hpp::pinocchio::DeviceSync Class Reference
#include <hpp/pinocchio/device-sync.hh>
Inheritance diagram for hpp::pinocchio::DeviceSync:
Collaboration diagram for hpp::pinocchio::DeviceSync:
Public Member Functions | |
| DeviceSync (const DevicePtr_t &device, bool lock=true) | |
| virtual | ~DeviceSync () |
| DeviceData & | d () |
| DeviceData const & | d () const |
| void | lock () |
| Lock the current DeviceData. More... | |
| bool | isLocked () const |
| Check if the current DeviceData is locked. More... | |
| void | unlock () |
| Unlock the current DeviceData. More... | |
 Public Member Functions inherited from hpp::pinocchio::AbstractDevice | |
| ModelConstPtr_t | modelPtr () const |
| Access to pinocchio model. More... | |
| ModelPtr_t | modelPtr () |
| Access to pinocchio model. More... | |
| const Model & | model () const |
| Access to pinocchio model. More... | |
| Model & | model () |
| Access to pinocchio model. More... | |
| GeomModelConstPtr_t | geomModelPtr () const |
| Access to pinocchio geomModel. More... | |
| GeomModelPtr_t | geomModelPtr () |
| Access to pinocchio geomModel. More... | |
| const GeomModel & | geomModel () const |
| Access to pinocchio geomModel. More... | |
| GeomModel & | geomModel () |
| Access to pinocchio geomModel. More... | |
| DataConstPtr_t | dataPtr () const |
| Access to Pinocchio data/. More... | |
| DataPtr_t | dataPtr () |
| Access to Pinocchio data/. More... | |
| const Data & | data () const |
| Access to Pinocchio data/. More... | |
| Data & | data () |
| Access to Pinocchio data/. More... | |
| GeomDataConstPtr_t | geomDataPtr () const |
| Access to Pinocchio geomData/. More... | |
| GeomDataPtr_t | geomDataPtr () |
| Access to Pinocchio geomData/. More... | |
| const GeomData & | geomData () const |
| Access to Pinocchio geomData/. More... | |
| GeomData & | geomData () |
| Access to Pinocchio geomData/. More... | |
| const Configuration_t & | currentConfiguration () const |
| Get current configuration. More... | |
| virtual bool | currentConfiguration (ConfigurationIn_t configuration) |
| const vector_t & | currentVelocity () const |
| Get current velocity. More... | |
| bool | currentVelocity (vectorIn_t velocity) |
| Set current velocity. More... | |
| const vector_t & | currentAcceleration () const |
| Get current acceleration. More... | |
| bool | currentAcceleration (vectorIn_t acceleration) |
| Set current acceleration. More... | |
| const value_type & | mass () const |
| Get mass of robot. More... | |
| const vector3_t & | positionCenterOfMass () const |
| Get position of center of mass. More... | |
| const ComJacobian_t & | jacobianCenterOfMass () const |
| Get Jacobian of center of mass with respect to configuration. More... | |
| virtual void | controlComputation (const Computation_t &flag) |
| Computation_t | computationFlag () const |
| Get computation flag. More... | |
| void | computeForwardKinematics () |
| Compute forward kinematics. More... | |
| void | computeFramesForwardKinematics () |
| void | updateGeometryPlacements () |
| Update the geometry placement to the currentConfiguration. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from hpp::pinocchio::AbstractDevice | |
| AbstractDevice () | |
| AbstractDevice (const ModelPtr_t &m, const GeomModelPtr_t &gm) | |
| Protected Attributes inherited from hpp::pinocchio::AbstractDevice | |
| ModelPtr_t | model_ |
| GeomModelPtr_t | geomModel_ |
Detailed Description
A thread-safe access to a Device.
To ensure thread safety, one can do
// In some place of the code:
DevicePtr_t device = ...;
device->numberDeviceData (4);
// Acquires a lock on the device.
DeviceSync deviceSync (device);
deviceSync.currentConfiguration(q);
deviceSync.computeForwardKinematics();
JointPtr_t joint = ...;
joint->currentTransformation (deviceSync.d());
CollisionObjectPtr_t body = ...;
body->fcl (deviceSync.d());
body->getTransform (deviceSync.d());
// The lock is release when deviceSync is destroyed.
Constructor & Destructor Documentation
◆ DeviceSync()
| hpp::pinocchio::DeviceSync::DeviceSync | ( | const DevicePtr_t & | device, |
| bool | lock = true |
||
| ) |
Constructor
- Parameters
-
device to lock lock whether to acquire the lock.
◆ ~DeviceSync()
|
virtual |
Destructor. The lock is released if necessary.
Member Function Documentation
◆ d() [1/2]
|
inlinevirtual |
Accessor to the locked DeviceData.
- Note
- this asserts that this isLocked()
Implements hpp::pinocchio::AbstractDevice.
◆ d() [2/2]
|
inlinevirtual |
Const accessor to the locked DeviceData.
- Note
- this asserts that this isLocked()
Implements hpp::pinocchio::AbstractDevice.
◆ isLocked()
|
inline |
Check if the current DeviceData is locked.
◆ lock()
| void hpp::pinocchio::DeviceSync::lock | ( | ) |
Lock the current DeviceData.
◆ unlock()
| void hpp::pinocchio::DeviceSync::unlock | ( | ) |
Unlock the current DeviceData.
The documentation for this class was generated from the following file:
- include/hpp/pinocchio/device-sync.hh
