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Humanoid Path Planner
hpp-model
Commits
b0fa5060
Commit
b0fa5060
authored
Nov 25, 2015
by
Steve Tonneau
Browse files
made compute jacobian and recursiveComputePosition public
parent
2de58c5b
Changes
1
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Inline
Side-by-side
include/hpp/model/joint.hh
View file @
b0fa5060
...
...
@@ -98,6 +98,12 @@ namespace hpp {
virtual
void
computePosition
(
ConfigurationIn_t
configuration
,
const
Transform3f
&
parentPosition
,
Transform3f
&
position
)
const
=
0
;
/// Compute position of this joint and all its descendents.
void
recursiveComputePosition
(
ConfigurationIn_t
configuration
,
const
Transform3f
&
parentPosition
)
const
;
/// Compute jacobian matrix of joint and all its descendents.
void
computeJacobian
();
/// Get neutral configuration of joint
///
...
...
@@ -298,10 +304,6 @@ namespace hpp {
value_type
maximalDistanceToParent_
;
vector_t
neutralConfiguration_
;
private:
/// Compute position of this joint and all its descendents.
void
recursiveComputePosition
(
ConfigurationIn_t
configuration
,
const
Transform3f
&
parentPosition
)
const
;
/// Write a block of Jacobian
///
/// child: joint the motion of which is generated by the degrees of
...
...
@@ -313,7 +315,6 @@ namespace hpp {
/// in the velocity vector, the method fills colums from index to index +
/// this joint number of degrees of freedom.
virtual
void
writeSubJacobian
(
const
JointPtr_t
&
child
)
=
0
;
void
computeJacobian
();
/// Compute mass of this and all descendants
value_type
computeMass
();
/// Compute the product m * com
...
...
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