ModelItem< Derived > Struct Template Reference

Inheritance diagram for ModelItem< Derived >:

Collaboration diagram for ModelItem< Derived >:

Public Types
enum	{ Options = traits<Derived>::Options }
typedef traits< Derived >::Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3
Public Types inherited from NumericalBase< Derived >
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.

Detailed Description

template<typename Derived>
struct pinocchio::ModelItem< Derived >

Definition at line 13 of file model-item.hpp.

Member Typedef Documentation

Scalar

template<typename Derived >

typedef traits<Derived>::Scalar Scalar

Definition at line 17 of file model-item.hpp.

SE3

template<typename Derived >

typedef SE3Tpl<Scalar, Options> SE3

Definition at line 22 of file model-item.hpp.

Member Enumeration Documentation

anonymous enum

template<typename Derived >

anonymous enum

Definition at line 18 of file model-item.hpp.

Constructor & Destructor Documentation

ModelItem() [1/2]

template<typename Derived >

ModelItem ( )

inline

Default constructor of ModelItem.

Definition at line 44 of file model-item.hpp.

ModelItem() [2/2]

template<typename Derived >

ModelItem ( const std::string &  name, const JointIndex  parent_joint, const FrameIndex  parent_frame, const SE3 &  frame_placement  )

inline

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

Parameters

[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.

Member Function Documentation

operator==()

template<typename Derived >

bool operator== ( const ModelItem< Derived > &  other ) const

inline

Definition at line 73 of file model-item.hpp.

Member Data Documentation

name

template<typename Derived >

std::string name

Name of the kinematic element.

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

parentFrame

template<typename Derived >

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 Derived >

JointIndex parentJoint

Index of the parent joint.

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

placement

template<typename Derived >

SE3 placement

Position of kinematic element in parent joint frame.

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

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

• include/pinocchio/multibody/model-item.hpp