10 #ifndef __SOT_DYNAMIC_PINOCCHIO_H__
11 #define __SOT_DYNAMIC_PINOCCHIO_H__
23 #include <pinocchio/fwd.hpp>
24 #include <sot/core/flags.hh>
25 #include <dynamic-graph/entity.h>
26 #include <dynamic-graph/pool.h>
27 #include <dynamic-graph/signal-ptr.h>
28 #include <dynamic-graph/signal-time-dependent.h>
29 #include <sot/core/exception-dynamic.hh>
30 #include <sot/core/matrix-geometry.hh>
32 #include <dynamic-graph/linear-algebra.h>
33 #include <sot/dynamic-pinocchio/deprecated.hh>
36 #include <pinocchio/macros.hpp>
37 #include <pinocchio/multibody/model.hpp>
38 #include <pinocchio/algorithm/rnea.hpp>
39 #include <pinocchio/algorithm/jacobian.hpp>
40 #include <pinocchio/algorithm/frames.hpp>
47 #if defined(dynamic_EXPORTS)
48 #define SOTDYNAMIC_EXPORT __declspec(dllexport)
50 #define SOTDYNAMIC_EXPORT __declspec(dllimport)
53 #define SOTDYNAMIC_EXPORT
75 friend class sot::command::SetFile;
76 friend class sot::command::CreateOpPoint;
80 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 DYNAMIC_GRAPH_ENTITY_DECL();
85 std::unique_ptr<pinocchio::Data>
m_data;
91 dg::SignalTimeDependent<dg::Matrix, int>& createEndeffJacobianSignal(
const std::string& signame,
const std::string&,
92 const bool isLocal =
true);
93 dg::SignalTimeDependent<dg::Matrix, int>& createJacobianSignal(
const std::string& signame,
const std::string&);
94 void destroyJacobianSignal(
const std::string& signame);
96 dg::SignalTimeDependent<MatrixHomogeneous, int>& createPositionSignal(
const std::string&,
const std::string&);
97 void destroyPositionSignal(
const std::string& signame);
99 dg::SignalTimeDependent<dg::Vector, int>& createVelocitySignal(
const std::string&,
const std::string&);
100 void destroyVelocitySignal(
const std::string& signame);
102 dg::SignalTimeDependent<dg::Vector, int>& createAccelerationSignal(
const std::string&,
const std::string&);
103 void destroyAccelerationSignal(
const std::string& signame);
127 int& computeNewtonEuler(
int& dummy,
const int& time);
128 int& computeForwardKinematics(
int& dummy,
const int& time);
129 int& computeCcrba(
int& dummy,
const int& time);
130 int& computeJacobians(
int& dummy,
const int& time);
132 dg::SignalTimeDependent<dg::Vector, int>
zmpSOUT;
134 dg::SignalTimeDependent<dg::Vector, int>
comSOUT;
137 dg::SignalTimeDependent<dg::Matrix, int>& jacobiansSOUT(
const std::string& name);
138 dg::SignalTimeDependent<MatrixHomogeneous, int>& positionsSOUT(
const std::string& name);
139 dg::SignalTimeDependent<dg::Vector, int>& velocitiesSOUT(
const std::string& name);
140 dg::SignalTimeDependent<dg::Vector, int>& accelerationsSOUT(
const std::string& name);
164 std::cout << (*m_model) << std::endl;
167 void setModel(pinocchio::Model*);
173 void setData(pinocchio::Data*) SOT_DYNAMIC_PINOCCHIO_DEPRECATED;
177 pinocchio::Data*
getData() {
return m_data.get(); };
185 dg::Vector& getLowerPositionLimits(dg::Vector& res,
const int&)
const;
191 dg::Vector& getUpperPositionLimits(dg::Vector& res,
const int&)
const;
197 dg::Vector& getUpperVelocityLimits(dg::Vector& res,
const int&)
const;
203 dg::Vector& getMaxEffortLimits(dg::Vector& res,
const int&)
const;
208 dg::Matrix& computeGenericJacobian(
const bool isFrame,
const int jointId, dg::Matrix& res,
const int& time);
209 dg::Matrix& computeGenericEndeffJacobian(
const bool isFrame,
const bool isLocal,
const int jointId, dg::Matrix& res,
211 MatrixHomogeneous& computeGenericPosition(
const bool isFrame,
const int jointId, MatrixHomogeneous& res,
213 dg::Vector& computeGenericVelocity(
const int jointId, dg::Vector& res,
const int& time);
214 dg::Vector& computeGenericAcceleration(
const int jointId, dg::Vector& res,
const int& time);
216 dg::Vector& computeZmp(dg::Vector& res,
const int& time);
217 dg::Vector& computeMomenta(dg::Vector& res,
const int& time);
218 dg::Vector& computeAngularMomentum(dg::Vector& res,
const int& time);
219 dg::Matrix& computeJcom(dg::Matrix& res,
const int& time);
220 dg::Vector& computeCom(dg::Vector& res,
const int& time);
221 dg::Matrix& computeInertia(dg::Matrix& res,
const int& time);
222 dg::Matrix& computeInertiaReal(dg::Matrix& res,
const int& time);
223 double& computeFootHeight(
double& res,
const int& time);
225 dg::Vector& computeTorqueDrift(dg::Vector& res,
const int& time);
228 void cmd_createOpPointSignals(
const std::string& sig,
const std::string& j);
229 void cmd_createJacobianWorldSignal(
const std::string& sig,
const std::string& j);
230 void cmd_createJacobianEndEffectorSignal(
const std::string& sig,
const std::string& j);
231 void cmd_createJacobianEndEffectorWorldSignal(
const std::string& sig,
const std::string& j);
232 void cmd_createPositionSignal(
const std::string& sig,
const std::string& j);
233 void cmd_createVelocitySignal(
const std::string& sig,
const std::string& j);
234 void cmd_createAccelerationSignal(
const std::string& sig,
const std::string& j);
239 dg::Vector& getPinocchioPos(dg::Vector& q,
const int& time);
240 dg::Vector& getPinocchioVel(dg::Vector& v,
const int& time);
241 dg::Vector& getPinocchioAcc(dg::Vector& a,
const int& time);
244 std::vector<int> sphericalJoints;
251 #endif // #ifndef __SOT_DYNAMIC_PINOCCHIO_H__