CoMFunction.h

Go to the documentation of this file.

 
#pragma once
 
#include <tvm/Robot.h>
 
#include <tvm/function/abstract/Function.h>
 
#include <RBDyn/CoM.h>
 
namespace tvm
{
 
namespace robot
{
 
class TVM_DLLAPI CoMFunction : public function::abstract::Function
{
public:
  SET_UPDATES(CoMFunction, Value, Velocity, Jacobian, NormalAcceleration, JDot)
 
  
  CoMFunction(RobotPtr robot);
 
  void reset();
 
  inline const Eigen::Vector3d & com() const { return com_; }
 
  inline void com(const Eigen::Vector3d & com) { com_ = com; }
 
protected:
  void updateValue();
  void updateVelocity();
  void updateJacobian();
  void updateNormalAcceleration();
  void updateJDot();
 
  RobotPtr robot_;
 
  Eigen::Vector3d com_;
 
  rbd::CoMJacobian jac_;
};
 
} // namespace robot
 
} // namespace tvm