12 #include <tvm/function/abstract/Function.h>
14 #include <RBDyn/Jacobian.h>
31 inline
void reset() {}
37 inline const Eigen::Vector6d &
dof() const noexcept {
return dof_; }
40 inline void dof(
const Eigen::Vector6d & dof) noexcept { dof_ =
dof; }
43 inline void refVel(
const Eigen::Vector6d & refV) noexcept { refVel_ = refV; }
45 inline const Eigen::Vector6d &
refVel() const noexcept {
return refVel_; }
48 inline void refAccel(
const Eigen::Vector6d & refA) noexcept { refAccel_ = refA; }
50 inline const Eigen::Vector6d &
refAccel() const noexcept {
return refAccel_; }
55 Eigen::Vector6d refVel_ = Eigen::Vector6d::Zero();
56 Eigen::Vector6d refAccel_ = Eigen::Vector6d::Zero();
60 Eigen::MatrixXd jacobian_;
63 void updateVelocity();
64 void updateJacobian();
#define MC_TVM_DLLAPI
Definition: api.h:47
Definition: generic_gripper.h:15
std::shared_ptr< const RobotFrame > ConstRobotFramePtr
Definition: fwd.h:25
Definition: CollisionFunction.h:16
std::shared_ptr< FrameVelocity > FrameVelocityPtr
Definition: FrameVelocity.h:67
Definition: RobotFrame.h:22
Definition: FrameVelocity.h:21
const Eigen::Vector6d & refVel() const noexcept
Definition: FrameVelocity.h:45
const Eigen::Vector6d & refAccel() const noexcept
Definition: FrameVelocity.h:50
void refVel(const Eigen::Vector6d &refV) noexcept
Definition: FrameVelocity.h:43
void refAccel(const Eigen::Vector6d &refA) noexcept
Definition: FrameVelocity.h:48
void dof(const Eigen::Vector6d &dof) noexcept
Definition: FrameVelocity.h:40
const Eigen::Vector6d & dof() const noexcept
Definition: FrameVelocity.h:37
const mc_rbdyn::RobotFrame & frame() const noexcept
Definition: FrameVelocity.h:34
Definition: RobotFrame.h:28