pinocchio::buildModels Namespace Reference

Build simple models. More...

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	humanoid (ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
	Create a 28-DOF kinematic chain of a floating humanoid robot. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	humanoidGeometries (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom)
	Create the geometries on top of the kinematic model created by humanoid function. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	humanoidRandom (ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
	Create a humanoid kinematic tree with 6-DOF limbs and random joint placements. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	manipulator (ModelTpl< Scalar, Options, JointCollectionTpl > &model)
	Create a 6-DOF kinematic chain shoulder-elbow-wrist. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	manipulatorGeometries (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom)
	Create the geometries on top of the kinematic model created by manipulator function. More...

Detailed Description

Build simple models.

Function Documentation

humanoid()

void pinocchio::buildModels::humanoid	(	ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		bool	usingFF = true
	)

Create a 28-DOF kinematic chain of a floating humanoid robot.

The kinematic chain has four 6-DOF limbs shoulder-elbow-wrist, one 2-DOF torso, one 2-DOF neck. The float joint is either a JointModelFreeFloating (with nq=7 and nv=6), or a composite joint with a JointModelTranslation and a roll-pitch-yaw joint JointModelSphericalZYX (with total nq=nv=6). Using a free-floating or a composite joint is decided by the boolean usingFF.

Parameters

model	model, typically given empty, where the kinematic chain is added.
usingFF	if True, implement the chain with a plain JointModelFreeFloating; if False, uses a composite joint. This changes the size of the configuration space (35 vs 34).

humanoidGeometries()

void pinocchio::buildModels::humanoidGeometries	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geom
	)

Create the geometries on top of the kinematic model created by humanoid function.

Parameters

model,const,kinematic

chain typically produced by the function humanoid(model).

Warning

this method is expecting specific namings of the kinematic chain, use it with care not using after humanoid(model).

humanoidRandom()

void pinocchio::buildModels::humanoidRandom	(	ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		bool	usingFF = true
	)

Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.

This method is only meant to be used in unittest. Due to random placement and masses, the resulting model is likely to not correspond to any physically-plausible model. You may want to consider pinocchio::humanoid and pinocchio::humanoidGeometries functions that rather define a plain and non-random model.

Parameters

model	model, typically given empty, where the kinematic chain is added.
usingFF	if True, implement the chain with a plain JointModelFreeFloating; if False, uses a composite joint translation + roll-pitch-yaw. This changes the size of the configuration space (33 vs 32).

manipulator()

void pinocchio::buildModels::manipulator

(

ModelTpl< Scalar, Options, JointCollectionTpl > &

model

)

Create a 6-DOF kinematic chain shoulder-elbow-wrist.

Parameters

model

model, typically given empty, where the kinematic chain is added.

manipulatorGeometries()

void pinocchio::buildModels::manipulatorGeometries	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geom
	)

Create the geometries on top of the kinematic model created by manipulator function.

Parameters

model,const,kinematic

chain typically produced by the function manipulator(model).

Warning

this method is expecting specific namings of the kinematic chain, use it with care not using after manipulator(model).