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// |
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// Copyright (c) 2015-2020 CNRS INRIA |
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// |
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#include "pinocchio/multibody/model.hpp" |
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namespace pinocchio |
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{ |
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template<typename D> |
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void addJointAndBody( |
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Model & model, |
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const JointModelBase<D> & jmodel, |
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const Model::JointIndex parent_id, |
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const SE3 & joint_placement, |
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const std::string & name, |
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const Inertia & Y) |
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{ |
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Model::JointIndex idx; |
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typedef typename D::TangentVector_t TV; |
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typedef typename D::ConfigVector_t CV; |
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idx = model.addJoint( |
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parent_id, jmodel, joint_placement, name + "_joint", TV::Zero(), |
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1e3 * (TV::Random() + TV::Constant(1)), 1e3 * (CV::Random() - CV::Constant(1)), |
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1e3 * (CV::Random() + CV::Constant(1))); |
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model.appendBodyToJoint(idx, Y, SE3::Identity()); |
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} |
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void buildAllJointsModel(Model & model) |
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{ |
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addJointAndBody( |
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model, JointModelFreeFlyer(), model.getJointId("universe"), SE3::Identity(), "freeflyer", |
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Inertia::Random()); |
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addJointAndBody( |
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model, JointModelSpherical(), model.getJointId("freeflyer_joint"), SE3::Identity(), |
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"spherical", Inertia::Random()); |
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addJointAndBody( |
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model, JointModelPlanar(), model.getJointId("spherical_joint"), SE3::Identity(), "planar", |
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Inertia::Random()); |
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addJointAndBody( |
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model, JointModelRX(), model.getJointId("planar_joint"), SE3::Identity(), "rx", |
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Inertia::Random()); |
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addJointAndBody( |
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model, JointModelPX(), model.getJointId("rx_joint"), SE3::Identity(), "px", |
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Inertia::Random()); |
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addJointAndBody( |
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model, JointModelHX(1.0), model.getJointId("px_joint"), SE3::Identity(), "hx", |
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Inertia::Random()); |
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addJointAndBody( |
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model, JointModelPrismaticUnaligned(SE3::Vector3(1, 0, 0)), model.getJointId("hx_joint"), |
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SE3::Identity(), "pu", Inertia::Random()); |
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addJointAndBody( |
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model, JointModelRevoluteUnaligned(SE3::Vector3(0, 0, 1)), model.getJointId("pu_joint"), |
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SE3::Identity(), "ru", Inertia::Random()); |
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addJointAndBody( |
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model, JointModelHelicalUnaligned(SE3::Vector3(0, 0, 1), 1.0), model.getJointId("ru_joint"), |
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SE3::Identity(), "hu", Inertia::Random()); |
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addJointAndBody( |
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model, JointModelSphericalZYX(), model.getJointId("hu_joint"), SE3::Identity(), |
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"sphericalZYX", Inertia::Random()); |
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addJointAndBody( |
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model, JointModelTranslation(), model.getJointId("sphericalZYX_joint"), SE3::Identity(), |
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"translation", Inertia::Random()); |
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} |
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} // namespace pinocchio |
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