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
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//
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// Copyright (c) 2021-2022 INRIA
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//
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#ifndef __pinocchio_multibody_model_item_hpp__
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#define __pinocchio_multibody_model_item_hpp__
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#include "pinocchio/multibody/fwd.hpp"
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namespace
pinocchio
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{
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template
<
typename
Derived>
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struct
ModelItem
:
NumericalBase
<Derived>
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{
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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typedef
typename
traits<Derived>::Scalar
Scalar;
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enum
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{
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Options =
traits<Derived>::Options
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};
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typedef
SE3Tpl<Scalar, Options>
SE3
;
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std::string
name
;
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JointIndex
parentJoint
;
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FrameIndex
parentFrame
;
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SE3
placement
;
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ModelItem
()
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:
name
()
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,
parentJoint
()
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,
parentFrame
()
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,
placement
()
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{
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}
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ModelItem
(
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const
std::string &
name
,
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const
JointIndex
parent_joint
,
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const
FrameIndex
parent_frame
,
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const
SE3
&
frame_placement
)
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:
name
(
name
)
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,
parentJoint
(
parent_joint
)
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,
parentFrame
(
parent_frame
)
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,
placement
(
frame_placement
)
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{
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}
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bool
operator==(
const
ModelItem
&
other
)
const
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{
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return
name
==
other
.name &&
parentJoint
==
other
.parentJoint
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&&
parentFrame
==
other
.parentFrame &&
placement
==
other
.placement;
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}
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};
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}
// namespace pinocchio
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#endif
// ifndef __pinocchio_multibody_model_item_hpp__
pinocchio
Main pinocchio namespace.
Definition
treeview.dox:11
pinocchio::ContactSolverBaseTpl
Definition
contact-solver-base.hpp:20
pinocchio::ModelItem
Definition
model-item.hpp:14
pinocchio::ModelItem::ModelItem
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...
Definition
model-item.hpp:61
pinocchio::ModelItem::parentFrame
FrameIndex parentFrame
Index of the parent frame.
Definition
model-item.hpp:36
pinocchio::ModelItem::ModelItem
ModelItem()
Default constructor of ModelItem.
Definition
model-item.hpp:44
pinocchio::ModelItem::parentJoint
JointIndex parentJoint
Index of the parent joint.
Definition
model-item.hpp:28
pinocchio::ModelItem::name
std::string name
Name of the kinematic element.
Definition
model-item.hpp:25
pinocchio::ModelItem::placement
SE3 placement
Position of kinematic element in parent joint frame.
Definition
model-item.hpp:39
pinocchio::NumericalBase
Definition
fwd.hpp:90
pinocchio::SE3Tpl< Scalar, Options >
pinocchio::traits
Common traits structure to fully define base classes for CRTP.
Definition
fwd.hpp:72
include
pinocchio
multibody
model-item.hpp
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