36 #include <scl/data_structs/SRobotParsed.hpp>
37 #include <scl/data_structs/SRigidBodyDyn.hpp>
38 #include <scl/DataTypes.hpp>
40 #include <Eigen/Dense>
61 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
85 Eigen::VectorXd
q_,dq_;
sFloat mass_
Definition: SGcModel.hpp:91
Eigen::VectorXd force_gc_cc_
Definition: SGcModel.hpp:70
SGcModel()
Definition: SGcModel.cpp:41
Definition: SRobotParsed.hpp:51
Definition: SGcModel.hpp:53
bool sBool
Definition: DataTypes.hpp:54
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::MatrixXd M_gc_
Definition: SGcModel.hpp:64
sutil::CMappedTree< std::string, SRigidBodyDyn > rbdyn_tree_
Definition: SGcModel.hpp:102
Eigen::VectorXd force_gc_grav_
Definition: SGcModel.hpp:73
Eigen::VectorXd vec_scratch_[5]
Definition: SGcModel.hpp:105
Definition: CMappedTree.hpp:66
Eigen::MatrixXd M_gc_inv_
Definition: SGcModel.hpp:67
bool computed_spatial_transformation_and_inertia_
Definition: SGcModel.hpp:98
sBool init(const SRobotParsed &arg_robot_data)
Definition: SGcModel.cpp:44
double sFloat
Definition: DataTypes.hpp:72
std::vector< std::string > processing_order_
Definition: SGcModel.hpp:94
Eigen::Vector3d pos_com_
Definition: SGcModel.hpp:88
Eigen::VectorXd q_
Definition: SGcModel.hpp:85
Definition: SObject.hpp:43