pinocchio  3.5.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
sample-models.hpp
1 //
2 // Copyright (c) 2015-2018 CNRS
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5 
6 #ifndef __pinocchio_multibody_sample_models_hpp__
7 #define __pinocchio_multibody_sample_models_hpp__
8 
9 #include "pinocchio/multibody/model.hpp"
10 #include "pinocchio/multibody/geometry.hpp"
11 
12 namespace pinocchio
13 {
14  namespace buildModels
15  {
20  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
21  void
22  manipulator(ModelTpl<Scalar, Options, JointCollectionTpl> & model, const bool mimic = false);
23 
24 #ifdef PINOCCHIO_WITH_HPP_FCL
31  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
32  void manipulatorGeometries(
33  const ModelTpl<Scalar, Options, JointCollectionTpl> & model, GeometryModel & geom);
34 #endif
35 
48  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
49  void humanoid(ModelTpl<Scalar, Options, JointCollectionTpl> & model, bool usingFF = true);
50 
51 #ifdef PINOCCHIO_WITH_HPP_FCL
58  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
59  void humanoidGeometries(
60  const ModelTpl<Scalar, Options, JointCollectionTpl> & model, GeometryModel & geom);
61 #endif
62 
74  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
75  void humanoidRandom(
76  ModelTpl<Scalar, Options, JointCollectionTpl> & model,
77  bool usingFF = true,
78  bool mimic = false);
79 
80  } // namespace buildModels
81 } // namespace pinocchio
82 
83 #include "pinocchio/multibody/sample-models.hxx"
84 
85 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
86  #include "pinocchio/multibody/sample-models.txx"
87 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
88 
89 #endif // ifndef __pinocchio_multibody_sample_models_hpp__
pinocchio::buildModels::humanoidGeometries
void humanoidGeometries(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom)
Create the geometries on top of the kinematic model created by humanoid function.
pinocchio::buildModels::humanoid
void humanoid(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a 28-DOF kinematic chain of a floating humanoid robot.
pinocchio::buildModels::manipulator
void manipulator(ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool mimic=false)
Create a 6-DOF kinematic chain shoulder-elbow-wrist.
pinocchio::buildModels::humanoidRandom
void humanoidRandom(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true, bool mimic=false)
Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
pinocchio::buildModels::manipulatorGeometries
void manipulatorGeometries(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom)
Create the geometries on top of the kinematic model created by manipulator function.
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:11