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// |
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// Copyright (c) 2021-2022 INRIA |
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// |
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#ifndef __pinocchio_multibody_model_item_hpp__ |
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#define __pinocchio_multibody_model_item_hpp__ |
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#include "pinocchio/multibody/fwd.hpp" |
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namespace pinocchio |
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{ |
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template<typename Derived> |
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struct ModelItem : NumericalBase<Derived> |
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{ |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef typename traits<Derived>::Scalar Scalar; |
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enum |
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{ |
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Options = traits<Derived>::Options |
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}; |
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typedef SE3Tpl<Scalar, Options> SE3; |
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/// \brief Name of the kinematic element |
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std::string name; |
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/// \brief Index of the parent joint |
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JointIndex parentJoint; |
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/// \brief Index of the parent frame |
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/// |
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/// Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) as it is |
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/// mostly used as a documentation of the tree, or in third-party libraries. The URDF parser of |
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/// Pinocchio is setting it to the proper value according to the urdf link-joint tree. In |
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/// particular, anchor joints of URDF would cause parent frame to be different to joint frame. |
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FrameIndex parentFrame; |
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/// \brief Position of kinematic element in parent joint frame |
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SE3 placement; |
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/// |
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/// \brief Default constructor of ModelItem. |
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/// |
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ModelItem() |
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: name() |
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, parentJoint() |
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, parentFrame() |
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, placement() |
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{ |
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} |
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/// |
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/// \brief Builds a kinematic element defined by its name, its joint parent id, its parent frame |
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/// id and its placement. |
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/// |
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/// \param[in] name Name of the frame. |
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/// \param[in] parent_joint Index of the parent joint in the kinematic tree. |
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/// \param[in] parent_frame Index of the parent frame in the kinematic tree. |
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/// \param[in] frame_placement Placement of the frame wrt the parent joint frame. |
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/// |
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ModelItem( |
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const std::string & name, |
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const JointIndex parent_joint, |
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const FrameIndex parent_frame, |
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const SE3 & frame_placement) |
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: name(name) |
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, parentJoint(parent_joint) |
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, parentFrame(parent_frame) |
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, placement(frame_placement) |
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{ |
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} |
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bool operator==(const ModelItem & other) const |
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{ |
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return name == other.name && parentJoint == other.parentJoint |
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&& parentFrame == other.parentFrame && placement == other.placement; |
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} |
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}; |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_multibody_model_item_hpp__ |
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