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Add virtual methods needed by the gluecode PR #9

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befd570
[ADD] add virtual methods for base acceleration and Jacobian computat…
Mar 23, 2026
e4cec0b
Merge branch 'main' of github.com:iit-DLSLab/robotlib into wbc
Mar 30, 2026
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26 changes: 26 additions & 0 deletions include/robotlib/robot_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -621,6 +621,32 @@ namespace robotlib
const robotlib::eigen::aligned_map<std::string, Eigen::Vector3d> &f_contact,
robotlib::JointState &tau_joints) = 0;

/**
* @brief Get base acceleration.
*/
virtual void getBaseAcceleration(const robotlib::JointState &,
const robotlib::JointState &,
const robotlib::JointState &,
Eigen::Matrix<double, 6, 1> &) {
throw std::runtime_error("getBaseAcceleration not implemented");
}

/**
* @brief Get Joint Jacobian Time Variation.
*/
virtual void getJointJacobianTimeVariation(const Eigen::Matrix<double, 6, 1> &,
const robotlib::JointState &,
const robotlib::JointState &,
const std::string &,
Eigen::MatrixXd &) {
throw std::runtime_error("getJointJacobianTimeVariation not implemented");
}

virtual void computeBaseJacobian(const robotlib::JointState &, Eigen::MatrixXd &)
{
throw std::runtime_error("computeBaseJacobian not implemented");
}

// ** SET FUNCTIONS **
// template <class T>
// T& getLimbData(const LimbPtr limb, Eigen::Matrix<T, Eigen::Dynamic, 1>& data_vector);
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