Multibody

Classes
struct	FrameTpl< _Scalar, _Options >
	A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...

Typedefs
typedef DataTpl< context::Scalar, context::Options >	Data
typedef FrameTpl< context::Scalar, context::Options >	Frame
typedef Index	FrameIndex
typedef Index	GeomIndex
typedef Index	JointIndex
typedef ModelTpl< context::Scalar, context::Options >	Model
typedef Index	PairIndex

Enumerations
enum class	Convention { WORLD = 0 , LOCAL = 1 }
	List of convention to call algorithms. More...
enum	KinematicLevel { POSITION = 0 , VELOCITY = 1 , ACCELERATION = 2 }
	List of Kinematics Level supported by Pinocchio. More...
enum	ReferenceFrame { WORLD = 0 , LOCAL = 1 , LOCAL_WORLD_ALIGNED = 2 }
	Various conventions to express the velocity of a moving frame. More...

Variables
PINOCCHIO_COMPILER_DIAGNOSTIC_POP typedef std::size_t	Index

Detailed Description

Enumeration Type Documentation

Convention

enum Convention

strong

List of convention to call algorithms.

The convention will select in witch frame different quantities will be computed.

Enumerator
WORLD	Quantities will be computed in world frame (e.g. DataTpl::ov will be filled instead of DataTpl::v).
LOCAL	Quantities will be computed in local frame (e.g. DataTpl::v will be filled instead of DataTpl::ov).

Definition at line 73 of file fwd.hpp.

KinematicLevel

enum KinematicLevel

List of Kinematics Level supported by Pinocchio.

Enumerator
POSITION	Refers to the quantities related to the 0-order kinematics (joint placements, center of mass position, etc.).
VELOCITY	Refers to the quantities related to the 1st-order kinematics (joint velocities, center of mass velocity, etc.).
ACCELERATION	Refers to the quantities related to the 2nd-order kinematics (joint accelerations, center of mass acceleration, etc.).

Definition at line 59 of file fwd.hpp.

ReferenceFrame

enum ReferenceFrame

Various conventions to express the velocity of a moving frame.

The velocity of a moving frame is uniquely defined by the velocity of a point \(P\) of the frame and the angular velocity of the frame. Several conventions exist in pinocchio depending on the point \(P\) we choose and on the basis in which the above velocities are projected.

Enumerator
WORLD	\(P\) is the point coinciding with the origin of the world frame and the velocities are projected in the basis of the world frame.
LOCAL	\(P\) is the origin of the moving frame and the velocities are projected in the basis of the moving frame.
LOCAL_WORLD_ALIGNED	\(P\) is the origin of the moving frame and the velocities are projected in the basis of the world frame.

Definition at line 46 of file fwd.hpp.