miscellaneous.h File Reference

#include "inertia_properties.h"
#include "transforms.h"

Go to the source code of this file.

Namespaces
	iit
	iit::HyQ

Functions
Center of mass calculation
Computes the Center Of Mass (COM) position of the whole robot, in base coordinates. Common parameters are the inertia properties of the robot and the set of homogeneous coordinate transforms. If a joint status variable is also passed, then the transforms are updated accordingly; otherwise, they are not modified before being used.
iit::rbd::Vector3d	iit::HyQ::getWholeBodyCOM (const dyn::InertiaProperties &inertia, const HomogeneousTransforms &transforms)
iit::rbd::Vector3d	iit::HyQ::getWholeBodyCOM (const dyn::InertiaProperties &inertia, const JointState &q, HomogeneousTransforms &transforms)