|
| enum | { Options = _Options
} |
| |
| typedef std::map< std::string, ConfigVectorType > | ConfigVectorMap |
| | Map between a string (key) and a configuration vector.
|
| |
| typedef VectorXs | ConfigVectorType |
| | Dense vectorized version of a joint configuration vector.
|
| |
| typedef DataTpl< Scalar, Options, JointCollectionTpl > | Data |
| |
| typedef ForceTpl< Scalar, Options > | Force |
| |
| typedef FrameTpl< Scalar, Options > | Frame |
| |
| typedef pinocchio::FrameIndex | FrameIndex |
| |
| typedef pinocchio::GeomIndex | GeomIndex |
| |
| typedef pinocchio::Index | Index |
| |
| typedef std::vector< Index > | IndexVector |
| |
| typedef InertiaTpl< Scalar, Options > | Inertia |
| |
| typedef JointCollectionTpl< Scalar, Options > | JointCollection |
| |
| typedef JointDataTpl< Scalar, Options, JointCollectionTpl > | JointData |
| |
| typedef pinocchio::JointIndex | JointIndex |
| |
| typedef JointModelTpl< Scalar, Options, JointCollectionTpl > | JointModel |
| |
| typedef MotionTpl< Scalar, Options > | Motion |
| |
| typedef _Scalar | Scalar |
| |
| typedef SE3Tpl< Scalar, Options > | SE3 |
| |
| typedef VectorXs | TangentVectorType |
| | Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).
|
| |
| typedef Eigen::Matrix< Scalar, 3, 1, Options > | Vector3 |
| |
| typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > | VectorXs |
| |
| typedef traits< ModelTpl< _Scalar, _Options, JointCollectionTpl > >::Scalar | Scalar |
| |
|
| | ModelTpl () |
| | Default constructor. Builds an empty model with no joints.
|
| |
| template<typename S2 , int O2> |
| | ModelTpl (const ModelTpl< S2, O2 > &other) |
| | Copy constructor by casting.
|
| |
| FrameIndex | addBodyFrame (const std::string &body_name, const JointIndex &parentJoint, const SE3 &body_placement=SE3::Identity(), int parentFrame=-1) |
| | Add a body to the frame tree.
|
| |
| FrameIndex | addFrame (const Frame &frame, const bool append_inertia=true) |
| | Adds a frame to the kinematic tree. The inertia stored within the frame will be happened to the inertia supported by the joint (frame.parentJoint).
|
| |
| JointIndex | addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name) |
| | Add a joint to the kinematic tree with infinite bounds.
|
| |
| JointIndex | addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config) |
| |
| JointIndex | addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config, const VectorXs &friction, const VectorXs &damping) |
| |
| FrameIndex | addJointFrame (const JointIndex &joint_index, int previous_frame_index=-1) |
| | Add a joint to the frame tree.
|
| |
| void | appendBodyToJoint (const JointIndex joint_index, const Inertia &Y, const SE3 &body_placement=SE3::Identity()) |
| | Append a body to a given joint of the kinematic tree.
|
| |
| template<typename NewScalar > |
| CastType< NewScalar, ModelTpl >::type | cast () const |
| |
| bool | check () const |
| | Run check(fusion::list) with DEFAULT_CHECKERS as argument.
|
| |
| template<typename D > |
| bool | check (const AlgorithmCheckerBase< D > &checker=AlgorithmCheckerBase< D >()) const |
| | Check the validity of the attributes of Model with respect to the specification of some algorithms.
|
| |
| bool | check (const Data &data) const |
| | Run checkData on data and current model.
|
| |
| bool | existBodyName (const std::string &name) const |
| | Check if a body given by its name exists.
|
| |
| bool | existFrame (const std::string &name, const FrameType &type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const |
| | Checks if a frame given by its name exists.
|
| |
| bool | existJointName (const std::string &name) const |
| | Check if a joint given by its name exists.
|
| |
| FrameIndex | getBodyId (const std::string &name) const |
| | Return the index of a body given by its name.
|
| |
| FrameIndex | getFrameId (const std::string &name, const FrameType &type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const |
| | Returns the index of a frame given by its name.
|
| |
| JointIndex | getJointId (const std::string &name) const |
| | Return the index of a joint given by its name.
|
| |
| std::vector< bool > | hasConfigurationLimit () |
| | Check if joints have configuration limits.
|
| |
| std::vector< bool > | hasConfigurationLimitInTangent () |
| | Check if joints have configuration limits.
|
| |
| bool | operator!= (const ModelTpl &other) const |
| |
| bool | operator== (const ModelTpl &other) const |
| | Equality comparison operator.
|
| |
|
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (Frame) FrameVector |
| |
|
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) InertiaVector |
| |
|
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector |
| |
|
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector |
| |
|
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (SE3) SE3Vector |
| |
| void | loadFromBinary (boost::asio::streambuf &container) |
| | Loads a Derived object from a binary container.
|
| |
| void | loadFromBinary (const std::string &filename) |
| | Loads a Derived object from an binary file.
|
| |
| void | loadFromBinary (StaticBuffer &container) |
| | Loads a Derived object from a static binary container.
|
| |
| void | loadFromString (const std::string &str) |
| | Loads a Derived object from a string.
|
| |
| void | loadFromStringStream (std::istringstream &is) |
| | Loads a Derived object from a stream string.
|
| |
| void | loadFromText (const std::string &filename) |
| | Loads a Derived object from a text file.
|
| |
| void | loadFromXML (const std::string &filename, const std::string &tag_name) |
| | Loads a Derived object from an XML file.
|
| |
| void | saveToBinary (boost::asio::streambuf &container) const |
| | Saves a Derived object as a binary container.
|
| |
| void | saveToBinary (const std::string &filename) const |
| | Saves a Derived object as an binary file.
|
| |
| void | saveToBinary (StaticBuffer &container) const |
| | Saves a Derived object as a static binary container.
|
| |
| std::string | saveToString () const |
| | Saves a Derived object to a string.
|
| |
| void | saveToStringStream (std::stringstream &ss) const |
| | Saves a Derived object to a string stream.
|
| |
| void | saveToText (const std::string &filename) const |
| | Saves a Derived object as a text file.
|
| |
| void | saveToXML (const std::string &filename, const std::string &tag_name) const |
| | Saves a Derived object as an XML file.
|
| |
|
| VectorXs | armature |
| | Vector of armature values expressed at the joint level This vector may contain the contribution of rotor inertia effects for instance.
|
| |
| std::vector< IndexVector > | children |
| | Vector of children index. Chidren of the i*th joint, denoted *mu(i) corresponds to the set (i==parents[k] for k in mu(i)).
|
| |
| TangentVectorType | damping |
| | Vector of joint damping parameters.
|
| |
| TangentVectorType | effortLimit |
| | Vector of maximal joint torques.
|
| |
| FrameVector | frames |
| | Vector of operational frames registered on the model.
|
| |
| TangentVectorType | friction |
| | Vector of joint friction parameters.
|
| |
| Motion | gravity |
| | Spatial gravity of the model.
|
| |
| std::vector< int > | idx_qs |
| | Vector of starting index of the *i*th joint in the configuration space.
|
| |
| std::vector< int > | idx_vExtendeds |
| | Starting index of the *i*th joint in the jacobian space.
|
| |
| std::vector< int > | idx_vs |
| | Starting index of the *i*th joint in the tangent configuration space.
|
| |
| InertiaVector | inertias |
| | Vector of spatial inertias supported by each joint.
|
| |
| SE3Vector | jointPlacements |
| | Vector of joint placements: placement of a joint i wrt its parent joint frame.
|
| |
| JointModelVector | joints |
| | Vector of joint models.
|
| |
| ConfigVectorType | lowerPositionLimit |
| | Lower joint configuration limit.
|
| |
| std::vector< IndexVector > | mimic_joint_supports |
| | Vector of mimic supports joints. mimic_joint_supports[j] corresponds to the vector of mimic joints indices located on the path between joint j and "universe". The first element of mimic_joint_supports[j] is "universe". If j is a mimic, the last element is the index of joint j itself.
|
| |
| std::vector< JointIndex > | mimicked_joints |
| | Vector of mimicked joints in the tree (can be any joint type) The i-th element of this vector correspond to the mimicked joint of the i-th mimicking vector in mimicking_joints.
|
| |
| std::vector< JointIndex > | mimicking_joints |
| | Vector of mimicking joints in the tree (with type MimicTpl)
|
| |
| std::string | name |
| | Model name.
|
| |
| std::vector< std::string > | names |
| | Name of the joints.
|
| |
| int | nbodies |
| | Number of bodies.
|
| |
| int | nframes |
| | Number of operational frames.
|
| |
| int | njoints |
| | Number of joints.
|
| |
| int | nq |
| | Dimension of the configuration vector representation.
|
| |
| std::vector< int > | nqs |
| | Vector of dimension of the joint configuration subspace.
|
| |
| int | nv |
| | Dimension of the velocity vector space.
|
| |
| int | nvExtended |
| | Dimension of the jacobian space.
|
| |
| std::vector< int > | nvExtendeds |
| | Dimension of the *i*th joint jacobian subspace.
|
| |
| std::vector< int > | nvs |
| | Dimension of the *i*th joint tangent subspace.
|
| |
| std::vector< JointIndex > | parents |
| | Vector of parent joint indexes. The parent of joint i, denoted li, corresponds to li==parents[i].
|
| |
| ConfigVectorMap | referenceConfigurations |
| | Map of reference configurations, indexed by user given names.
|
| |
| TangentVectorType | rotorGearRatio |
| | Vector of rotor gear ratio parameters.
|
| |
| TangentVectorType | rotorInertia |
| | Vector of rotor inertia parameters.
|
| |
| std::vector< IndexVector > | subtrees |
| | Vector of joint subtrees. subtree[j] corresponds to the subtree supported by the joint j. The first element of subtree[j] is the index of the joint j itself.
|
| |
| std::vector< IndexVector > | supports |
| | Vector of joint supports. supports[j] corresponds to the vector of indices of the joints located on the path between joint j and "universe". The first element of supports[j] is "universe", the last one is the index of joint j itself.
|
| |
| ConfigVectorType | upperPositionLimit |
| | Upper joint configuration limit.
|
| |
| TangentVectorType | velocityLimit |
| | Vector of maximal joint velocities.
|
| |
Definition at line 45 of file model.hpp.
Public Types inherited from NumericalBase< ModelTpl< _Scalar, _Options, JointCollectionTpl > >
1.9.8