A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...

#include <pinocchio/multibody/frame.hpp>

Inheritance diagram for FrameTpl< _Scalar, _Options >:

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Collaboration diagram for FrameTpl< _Scalar, _Options >:

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Public Types
enum	{ Options = traits<ModelItemDerived>::Options }

typedef ModelItem< ModelItemDerived >	Base

typedef InertiaTpl< Scalar, Options >	Inertia

typedef pinocchio::JointIndex	JointIndex

typedef FrameTpl< _Scalar, _Options >	ModelItemDerived

typedef traits< ModelItemDerived >::Scalar	Scalar

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from ModelItem< FrameTpl< _Scalar, _Options > >
enum

typedef traits< FrameTpl< _Scalar, _Options > >::Scalar	Scalar

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS	FrameTpl ()
	Default constructor of a frame.

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS	FrameTpl (const FrameTpl &other)
	Copy constructor.

template<typename S2 , int O2>
PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS	FrameTpl (const FrameTpl< S2, O2 > &other)
	Copy constructor by casting.

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS	FrameTpl (const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &frame_placement, const FrameType type, const Inertia &inertia=Inertia::Zero())
	Builds a frame defined by its name, its joint parent id, its placement and its type.

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS	FrameTpl (const std::string &name, const JointIndex parentJoint, const SE3 &frame_placement, const FrameType type, const Inertia &inertia=Inertia::Zero())
	Builds a frame defined by its name, its joint parent id, its placement and its type.

template<typename NewScalar >
FrameTpl< NewScalar, Options >	cast () const

template<typename S2 , int O2>
bool	operator!= (const FrameTpl< S2, O2 > &other) const

PINOCCHIO_COMPILER_DIAGNOSTIC_POP FrameTpl< Scalar, Options > &	operator= (const FrameTpl< Scalar, Options > &other)
	Copy assignment operator. It needs to be user-define because references cannot be re-assigned during copy.

template<typename S2 , int O2>
bool	operator== (const FrameTpl< S2, O2 > &other) const
	Equality comparison operator.

Public Member Functions inherited from ModelItem< FrameTpl< _Scalar, _Options > >
	ModelItem ()
	Default constructor of 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 placement.

bool	operator== (const ModelItem &other) const

Public Attributes
Inertia	inertia
	Inertia information attached to the frame. This inertia will be appended to the inertia supported by the parent joint when calling ModelTpl::addFrame. It won't be processed otherwise by the algorithms.

std::string	name
	Name of the kinematic element.

PINOCCHIO_DEPRECATED JointIndex &	parent
	Index of the parent joint.

FrameIndex	parentFrame
	Index of the parent frame.

JointIndex	parentJoint
	Index of the parent joint.

SE3	placement
	Position of kinematic element in parent joint frame.

PINOCCHIO_DEPRECATED FrameIndex &	previousFrame
	Index of the previous frame.

FrameType	type
	Type of the frame.

Public Attributes inherited from ModelItem< FrameTpl< _Scalar, _Options > >
std::string	name
	Name of the kinematic element.

FrameIndex	parentFrame
	Index of the parent frame.

JointIndex	parentJoint
	Index of the parent joint.

SE3	placement
	Position of kinematic element in parent joint frame.

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::FrameTpl< _Scalar, _Options >

A Plucker coordinate frame attached to a parent joint inside a kinematic tree.

Definition at line 55 of file frame.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef ModelItem<ModelItemDerived> Base

Definition at line 64 of file frame.hpp.

◆ Inertia

template<typename _Scalar , int _Options>

typedef InertiaTpl<Scalar, Options> Inertia

Definition at line 67 of file frame.hpp.

◆ JointIndex

template<typename _Scalar , int _Options>

typedef pinocchio::JointIndex JointIndex

Definition at line 68 of file frame.hpp.

◆ ModelItemDerived

template<typename _Scalar , int _Options>

typedef FrameTpl<_Scalar, _Options> ModelItemDerived

Definition at line 58 of file frame.hpp.

◆ Scalar

template<typename _Scalar , int _Options>

typedef traits<ModelItemDerived>::Scalar Scalar

Definition at line 59 of file frame.hpp.

◆ SE3

template<typename _Scalar , int _Options>

typedef SE3Tpl<Scalar, Options> SE3

Definition at line 66 of file frame.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Definition at line 60 of file frame.hpp.

Constructor & Destructor Documentation

◆ FrameTpl() [1/5]

template<typename _Scalar , int _Options>

PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl ( )

inline

Default constructor of a frame.

Definition at line 75 of file frame.hpp.

◆ FrameTpl() [2/5]

template<typename _Scalar , int _Options>

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl	(	const std::string &	name,
		const JointIndex	parentJoint,
		const SE3 &	frame_placement,
		const FrameType	type,
		const Inertia &	inertia = `Inertia::Zero()`
	)

inline

Builds a frame defined by its name, its joint parent id, its placement and its type.

Parameters

[in]	name	Name of the frame.
[in]	parent	Index of the parent joint in the kinematic tree.
[in]	frame_placement	Placement of the frame wrt the parent joint frame.
[in]	type	The type of the frame, see the enum FrameType.
[in]	inertia	Inertia info attached to the frame.

Definition at line 96 of file frame.hpp.

◆ FrameTpl() [3/5]

template<typename _Scalar , int _Options>

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl	(	const std::string &	name,
		const JointIndex	parent_joint,
		const FrameIndex	parent_frame,
		const SE3 &	frame_placement,
		const FrameType	type,
		const Inertia &	inertia = `Inertia::Zero()`
	)

inline

Builds a frame defined by its name, its joint parent id, its placement and its type.

Parameters

[in]	name	Name of the frame.
[in]	parent	Index of the parent joint in the kinematic tree.
[in]	parentFrame	Index of the parent frame in the kinematic tree.
[in]	frame_placement	Placement of the frame wrt the parent joint frame.
[in]	type	The type of the frame, see the enum FrameType.
[in]	inertia	Inertia info attached to the frame.

Definition at line 123 of file frame.hpp.

◆ FrameTpl() [4/5]

template<typename _Scalar , int _Options>

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl ( const FrameTpl< _Scalar, _Options > & other )

inline

Copy constructor.

Parameters

[in] other Frame to copy

Definition at line 146 of file frame.hpp.

◆ FrameTpl() [5/5]

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl ( const FrameTpl< S2, O2 > & other )

inlineexplicit

Copy constructor by casting.

Parameters

[in] other Frame to copy

Definition at line 164 of file frame.hpp.

Member Function Documentation

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

FrameTpl< NewScalar, Options > cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 219 of file frame.hpp.

◆ operator!=()

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

bool operator!= ( const FrameTpl< S2, O2 > & other ) const

inline

Returns: true if *this is NOT equal to other.

Definition at line 212 of file frame.hpp.

◆ operator=()

template<typename _Scalar , int _Options>

PINOCCHIO_COMPILER_DIAGNOSTIC_POP FrameTpl< Scalar, Options > & operator= ( const FrameTpl< Scalar, Options > & other )

inline

Copy assignment operator. It needs to be user-define because references cannot be re-assigned during copy.

Parameters

[in] other Frame to copy

Definition at line 182 of file frame.hpp.

◆ operator==()

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

bool operator== ( const FrameTpl< S2, O2 > & other ) const

inline

Equality comparison operator.

Returns: true if *this is equal to other.

Parameters

[in] other The frame to which the current frame is compared.

Definition at line 201 of file frame.hpp.

Member Data Documentation

◆ inertia

template<typename _Scalar , int _Options>

Inertia inertia

Inertia information attached to the frame. This inertia will be appended to the inertia supported by the parent joint when calling ModelTpl::addFrame. It won't be processed otherwise by the algorithms.

Definition at line 248 of file frame.hpp.

◆ name

template<typename _Scalar , int _Options>

std::string name

Name of the kinematic element.

Definition at line 25 of file model-item.hpp.

◆ parent

template<typename _Scalar , int _Options>

PINOCCHIO_DEPRECATED JointIndex& parent

Index of the parent joint.

Deprecated:: use parentJoint instead

Definition at line 231 of file frame.hpp.

◆ parentFrame

template<typename _Scalar , int _Options>

FrameIndex parentFrame

Index of the parent frame.

Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) as it is mostly used as a documentation of the tree, or in third-party libraries. The URDF parser of Pinocchio is setting it to the proper value according to the urdf link-joint tree. In particular, anchor joints of URDF would cause parent frame to be different to joint frame.

Definition at line 36 of file model-item.hpp.

◆ parentJoint

template<typename _Scalar , int _Options>

JointIndex parentJoint

Index of the parent joint.

Definition at line 28 of file model-item.hpp.

◆ placement

template<typename _Scalar , int _Options>

SE3 placement

Position of kinematic element in parent joint frame.

Definition at line 39 of file model-item.hpp.

◆ previousFrame

template<typename _Scalar , int _Options>

PINOCCHIO_DEPRECATED FrameIndex& previousFrame

Index of the previous frame.

Deprecated:: use parentFrame instead

Definition at line 235 of file frame.hpp.

◆ type

template<typename _Scalar , int _Options>

FrameType type

Type of the frame.

Definition at line 243 of file frame.hpp.

The documentation for this struct was generated from the following file:

include/pinocchio/multibody/frame.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ Inertia

◆ JointIndex

◆ ModelItemDerived

◆ Scalar

◆ SE3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ FrameTpl() [1/5]

◆ FrameTpl() [2/5]

◆ FrameTpl() [3/5]

◆ FrameTpl() [4/5]

◆ FrameTpl() [5/5]

Member Function Documentation

◆ cast()

◆ operator!=()

◆ operator=()

◆ operator==()

Member Data Documentation

◆ inertia

◆ name

◆ parent

◆ parentFrame

◆ parentJoint

◆ placement

◆ previousFrame

◆ type