- 3.0.2 rigid body dynamics module.
miscellaneous.h
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1 #ifndef IIT_ROBCOGEN__TESTIRB4600_MISCELLANEOUS_H_
2 #define IIT_ROBCOGEN__TESTIRB4600_MISCELLANEOUS_H_
3 
4 #include "inertia_properties.h"
5 #include "transforms.h"
6 
7 namespace iit {
8 namespace testirb4600 {
9 
19 
26 iit::rbd::Vector3d getWholeBodyCOM(
27  const dyn::InertiaProperties& inertia,
28  const HomogeneousTransforms& transforms);
36 iit::rbd::Vector3d getWholeBodyCOM(
37  const dyn::InertiaProperties& inertia,
38  const JointState& q,
39  HomogeneousTransforms& transforms);
41 
42 }
43 }
44 
45 #endif
iit::testirb4600::dyn::InertiaProperties
tpl::InertiaProperties< rbd::DoubleTrait > InertiaProperties
Definition: inertia_properties.h:155
iit::rbd::Vector3d
Cored::Vector3 Vector3d
Definition: rbd.h:137
JointState
Column2d< SCALAR > JointState
inertia_properties.h
iit::testirb4600::getWholeBodyCOM
iit::rbd::Vector3d getWholeBodyCOM(const dyn::InertiaProperties &inertia, const HomogeneousTransforms &transforms)