Public Types | |
enum | { Options = traits<Derived>::Options } |
typedef traits< Derived >::Scalar | Scalar |
typedef SE3Tpl< Scalar, Options > | SE3 |
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typedef traits< Derived >::Scalar | Scalar |
Public Member Functions | |
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 | |
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. | |
Definition at line 13 of file model-item.hpp.
Definition at line 17 of file model-item.hpp.
Definition at line 22 of file model-item.hpp.
Definition at line 18 of file model-item.hpp.
Default constructor of ModelItem.
Definition at line 44 of file model-item.hpp.
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inline |
Builds a kinematic element defined by its name, its joint parent id, its parent frame id and its placement.
[in] | name | Name of the frame. |
[in] | parent_joint | Index of the parent joint in the kinematic tree. |
[in] | parent_frame | Index of the parent frame in the kinematic tree. |
[in] | frame_placement | Placement of the frame wrt the parent joint frame. |
Definition at line 61 of file model-item.hpp.
Definition at line 73 of file model-item.hpp.
std::string name |
Name of the kinematic element.
Definition at line 25 of file model-item.hpp.
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.
JointIndex parentJoint |
Index of the parent joint.
Definition at line 28 of file model-item.hpp.
Position of kinematic element in parent joint frame.
Definition at line 39 of file model-item.hpp.