pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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model-item.hpp
1//
2// Copyright (c) 2021-2022 INRIA
3//
4
5#ifndef __pinocchio_multibody_model_item_hpp__
6#define __pinocchio_multibody_model_item_hpp__
7
8#include "pinocchio/multibody/fwd.hpp"
9
10namespace pinocchio
11{
12 template<typename Derived>
13 struct ModelItem : NumericalBase<Derived>
14 {
16
17 typedef typename traits<Derived>::Scalar Scalar;
18 enum
19 {
21 };
23
25 std::string name;
26
28 JointIndex parentJoint;
29
36 FrameIndex parentFrame;
37
40
45 : name()
46 , parentJoint()
47 , parentFrame()
48 , placement()
49 {
50 }
51
62 const std::string & name,
63 const JointIndex parent_joint,
64 const FrameIndex parent_frame,
65 const SE3 & frame_placement)
66 : name(name)
70 {
71 }
72
73 bool operator==(const ModelItem & other) const
74 {
75 return name == other.name && parentJoint == other.parentJoint
76 && parentFrame == other.parentFrame && placement == other.placement;
77 }
78 };
79} // namespace pinocchio
80
81#endif // ifndef __pinocchio_multibody_model_item_hpp__
Main pinocchio namespace.
Definition treeview.dox:11
ModelItem(const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &frame_placement)
Builds a kinematic element defined by its name, its joint parent id, its parent frame id and its plac...
FrameIndex parentFrame
Index of the parent frame.
ModelItem()
Default constructor of ModelItem.
JointIndex parentJoint
Index of the parent joint.
std::string name
Name of the kinematic element.
SE3 placement
Position of kinematic element in parent joint frame.
Common traits structure to fully define base classes for CRTP.
Definition fwd.hpp:72