10 #ifndef __SOT_DYNAMIC_PINOCCHIO_H__
11 #define __SOT_DYNAMIC_PINOCCHIO_H__
24 #include <pinocchio/fwd.hpp>
27 #include <dynamic-graph/entity.h>
28 #include <dynamic-graph/pool.h>
29 #include <dynamic-graph/signal-ptr.h>
30 #include <dynamic-graph/signal-time-dependent.h>
32 #include <sot/core/exception-dynamic.hh>
33 #include <sot/core/flags.hh>
34 #include <sot/core/matrix-geometry.hh>
36 #include <dynamic-graph/linear-algebra.h>
38 #include <sot/dynamic-pinocchio/deprecated.hh>
41 #include <pinocchio/algorithm/frames.hpp>
42 #include <pinocchio/algorithm/jacobian.hpp>
43 #include <pinocchio/algorithm/rnea.hpp>
44 #include <pinocchio/macros.hpp>
45 #include <pinocchio/multibody/model.hpp>
52 #if defined(dynamic_EXPORTS)
53 #define SOTDYNAMIC_EXPORT __declspec(dllexport)
55 #define SOTDYNAMIC_EXPORT __declspec(dllimport)
58 #define SOTDYNAMIC_EXPORT
80 friend class sot::command::SetFile;
81 friend class sot::command::CreateOpPoint;
85 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
86 DYNAMIC_GRAPH_ENTITY_DECL();
90 std::unique_ptr<pinocchio::Data>
m_data;
96 dg::SignalTimeDependent<dg::Matrix, int>& createEndeffJacobianSignal(
97 const std::string& signame,
const std::string&,
98 const bool isLocal =
true);
99 dg::SignalTimeDependent<dg::Matrix, int>& createJacobianSignal(
100 const std::string& signame,
const std::string&);
101 void destroyJacobianSignal(
const std::string& signame);
103 dg::SignalTimeDependent<MatrixHomogeneous, int>& createPositionSignal(
104 const std::string&,
const std::string&);
105 void destroyPositionSignal(
const std::string& signame);
107 dg::SignalTimeDependent<dg::Vector, int>& createVelocitySignal(
108 const std::string&,
const std::string&);
109 void destroyVelocitySignal(
const std::string& signame);
111 dg::SignalTimeDependent<dg::Vector, int>& createAccelerationSignal(
112 const std::string&,
const std::string&);
113 void destroyAccelerationSignal(
const std::string& signame);
137 int& computeNewtonEuler(
int& dummy,
const int& time);
138 int& computeForwardKinematics(
int& dummy,
const int& time);
139 int& computeCcrba(
int& dummy,
const int& time);
140 int& computeJacobians(
int& dummy,
const int& time);
142 dg::SignalTimeDependent<dg::Vector, int>
zmpSOUT;
144 dg::SignalTimeDependent<dg::Vector, int>
comSOUT;
147 dg::SignalTimeDependent<dg::Matrix, int>& jacobiansSOUT(
148 const std::string& name);
149 dg::SignalTimeDependent<MatrixHomogeneous, int>& positionsSOUT(
150 const std::string& name);
151 dg::SignalTimeDependent<dg::Vector, int>& velocitiesSOUT(
152 const std::string& name);
153 dg::SignalTimeDependent<dg::Vector, int>& accelerationsSOUT(
154 const std::string& name);
178 std::cout << (*m_model) << std::endl;
181 void setModel(pinocchio::Model*);
187 void setData(pinocchio::Data*) SOT_DYNAMIC_PINOCCHIO_DEPRECATED;
191 pinocchio::Data*
getData() {
return m_data.get(); };
199 dg::Vector& getLowerPositionLimits(dg::Vector& res,
const int&)
const;
205 dg::Vector& getUpperPositionLimits(dg::Vector& res,
const int&)
const;
211 dg::Vector& getUpperVelocityLimits(dg::Vector& res,
const int&)
const;
217 dg::Vector& getMaxEffortLimits(dg::Vector& res,
const int&)
const;
222 dg::Matrix& computeGenericJacobian(
const bool isFrame,
const int jointId,
223 dg::Matrix& res,
const int& time);
224 dg::Matrix& computeGenericEndeffJacobian(
const bool isFrame,
226 const int jointId, dg::Matrix& res,
228 MatrixHomogeneous& computeGenericPosition(
const bool isFrame,
230 MatrixHomogeneous& res,
232 dg::Vector& computeGenericVelocity(
const int jointId, dg::Vector& res,
234 dg::Vector& computeGenericAcceleration(
const int jointId, dg::Vector& res,
237 dg::Vector& computeZmp(dg::Vector& res,
const int& time);
238 dg::Vector& computeMomenta(dg::Vector& res,
const int& time);
239 dg::Vector& computeAngularMomentum(dg::Vector& res,
const int& time);
240 dg::Matrix& computeJcom(dg::Matrix& res,
const int& time);
241 dg::Vector& computeCom(dg::Vector& res,
const int& time);
242 dg::Matrix& computeInertia(dg::Matrix& res,
const int& time);
243 dg::Matrix& computeInertiaReal(dg::Matrix& res,
const int& time);
244 double& computeFootHeight(
double& res,
const int& time);
246 dg::Vector& computeTorqueDrift(dg::Vector& res,
const int& time);
249 void cmd_createOpPointSignals(
const std::string& sig,
const std::string& j);
250 void cmd_createJacobianWorldSignal(
const std::string& sig,
251 const std::string& j);
252 void cmd_createJacobianEndEffectorSignal(
const std::string& sig,
253 const std::string& j);
254 void cmd_createJacobianEndEffectorWorldSignal(
const std::string& sig,
255 const std::string& j);
256 void cmd_createPositionSignal(
const std::string& sig,
const std::string& j);
257 void cmd_createVelocitySignal(
const std::string& sig,
const std::string& j);
258 void cmd_createAccelerationSignal(
const std::string& sig,
259 const std::string& j);
265 dg::Vector& getPinocchioPos(dg::Vector& q,
const int& time);
266 dg::Vector& getPinocchioVel(dg::Vector& v,
const int& time);
267 dg::Vector& getPinocchioAcc(dg::Vector& a,
const int& time);
271 std::vector<int> sphericalJoints;
278 #endif // #ifndef __SOT_DYNAMIC_PINOCCHIO_H__