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Stack Of Tasks
pinocchio
Commits
d01c0677
Verified
Commit
d01c0677
authored
Oct 09, 2020
by
Justin Carpentier
Browse files
core: add oinertias to Data
parent
c340f3e9
Changes
3
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Inline
Side-by-side
src/multibody/data.hpp
View file @
d01c0677
...
...
@@ -183,10 +183,13 @@ namespace pinocchio
/// \brief Left variation of the inertia matrix
PINOCCHIO_ALIGNED_STD_VECTOR
(
Matrix6
)
Ivx
;
/// \brief Inertia quantities expressed in the world frame
/// \brief Rigid Body Inertia supported by the joint expressed in the world frame
PINOCCHIO_ALIGNED_STD_VECTOR
(
Inertia
)
oinertias
;
/// \brief Composite Rigid Body Inertia expressed in the world frame
PINOCCHIO_ALIGNED_STD_VECTOR
(
Inertia
)
oYcrb
;
/// \brief Time variation of
the inertia quantities
expressed in the world frame
/// \brief Time variation of
Composite Rigid Body Inertia
expressed in the world frame
PINOCCHIO_ALIGNED_STD_VECTOR
(
Matrix6
)
doYcrb
;
/// \brief Temporary for derivative algorithms
...
...
src/multibody/data.hxx
View file @
d01c0677
...
...
@@ -53,6 +53,7 @@ namespace pinocchio
,
IS
(
MatrixXs
::
Zero
(
6
,
model
.
nv
))
,
vxI
((
std
::
size_t
)
model
.
njoints
,
Inertia
::
Matrix6
::
Zero
())
,
Ivx
((
std
::
size_t
)
model
.
njoints
,
Inertia
::
Matrix6
::
Zero
())
,
oinertias
((
std
::
size_t
)
model
.
njoints
,
Inertia
::
Zero
())
,
oYcrb
((
std
::
size_t
)
model
.
njoints
,
Inertia
::
Zero
())
,
doYcrb
((
std
::
size_t
)
model
.
njoints
,
Inertia
::
Matrix6
::
Zero
())
,
ddq
(
VectorXs
::
Zero
(
model
.
nv
))
...
...
@@ -248,6 +249,7 @@ namespace pinocchio
&&
data1
.
IS
==
data2
.
IS
&&
data1
.
vxI
==
data2
.
vxI
&&
data1
.
Ivx
==
data2
.
Ivx
&&
data1
.
oinertias
==
data2
.
oinertias
&&
data1
.
oYcrb
==
data2
.
oYcrb
&&
data1
.
doYcrb
==
data2
.
doYcrb
&&
data1
.
ddq
==
data2
.
ddq
...
...
src/serialization/data.hpp
View file @
d01c0677
...
...
@@ -57,6 +57,7 @@ namespace boost
PINOCCHIO_MAKE_DATA_NVP
(
ar
,
data
,
IS
);
PINOCCHIO_MAKE_DATA_NVP
(
ar
,
data
,
vxI
);
PINOCCHIO_MAKE_DATA_NVP
(
ar
,
data
,
Ivx
);
PINOCCHIO_MAKE_DATA_NVP
(
ar
,
data
,
oinertias
);
PINOCCHIO_MAKE_DATA_NVP
(
ar
,
data
,
oYcrb
);
PINOCCHIO_MAKE_DATA_NVP
(
ar
,
data
,
doYcrb
);
PINOCCHIO_MAKE_DATA_NVP
(
ar
,
data
,
ddq
);
...
...
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