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pinocchio
2.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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5 #ifndef __pinocchio_frame_hpp__
6 #define __pinocchio_frame_hpp__
8 #include "pinocchio/spatial/se3.hpp"
9 #include "pinocchio/spatial/inertia.hpp"
10 #include "pinocchio/multibody/fwd.hpp"
40 template<
typename _Scalar,
int _Options>
43 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 typedef pinocchio::JointIndex JointIndex;
45 enum { Options = _Options };
46 typedef _Scalar Scalar;
74 const SE3 & frame_placement,
92 template<
typename S2,
int O2>
106 template<
typename S2,
int O2>
109 return !(*
this == other);
113 template<
typename NewScalar>
122 inertia.template cast<NewScalar>());
150 template<
typename Scalar,
int Options>
151 inline std::ostream & operator << (std::ostream& os,
157 <<
" paired to (parent joint/ previous frame)"
160 <<
"with relative placement wrt parent joint:\n"
162 <<
"containing inertia:\n"
171 #endif // ifndef __pinocchio_frame_hpp__
FrameType type
Type of the frame.
@ JOINT
joint frame: attached to the child body of a joint (a.k.a. child frame)
FrameTpl()
Default constructor of a frame.
Inertia inertia
Inertia information attached to the frame. This inertia will be appended to the inertia supported by ...
@ FIXED_JOINT
fixed joint frame: joint frame but for a fixed joint
@ BODY
body frame: attached to the collision, inertial or visual properties of a link
@ SENSOR
sensor frame: defined in a sensor element
FrameTpl(const std::string &name, const JointIndex parent, const FrameIndex previousFrame, const SE3 &frame_placement, const FrameType type, const Inertia &inertia=Inertia::Zero())
Builds a frame defined by its name, its joint parent id, its placement and its type.
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
@ OP_FRAME
operational frame: user-defined frames that are defined at runtime
bool operator==(const FrameTpl< S2, O2 > &other) const
Equality comparison operator.
SE3 placement
Placement of the frame wrt the parent joint.
JointIndex parent
Index of the parent joint.
FrameTpl< NewScalar, Options > cast() const
std::string name
Name of the frame.
FrameIndex previousFrame
Index of the previous frame.
FrameType
Enum on the possible types of frames.
bool operator!=(const FrameTpl< S2, O2 > &other) const
Main pinocchio namespace.