FrameTpl< _Scalar, _Options > Struct Template Reference

A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...

#include <pinocchio/multibody/frame.hpp>

Collaboration diagram for FrameTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options }
typedef InertiaTpl< Scalar, Options >	Inertia
typedef pinocchio::JointIndex	JointIndex
typedef _Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
	FrameTpl ()
	Default constructor of a frame.
	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. More...
template<typename NewScalar >
FrameTpl< NewScalar, Options >	cast () const
template<typename S2 , int O2>
bool	operator!= (const FrameTpl< S2, O2 > &other) const
template<typename S2 , int O2>
bool	operator== (const FrameTpl< S2, O2 > &other) const
	Equality comparison operator. More...

Public Attributes
Inertia	inertia
	Inertia information attached to the frame. This inertia will be appended to the inertia supported by the parent joint when calling ModelTpl::addFrame. It won't be processed otherwise by the algorithms.
std::string	name
	Name of the frame.
JointIndex	parent
	Index of the parent joint.
SE3	placement
	Placement of the frame wrt the parent joint.
FrameIndex	previousFrame
	Index of the previous frame.
FrameType	type
	Type of the frame.

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::FrameTpl< _Scalar, _Options >

A Plucker coordinate frame attached to a parent joint inside a kinematic tree.

Definition at line 41 of file frame.hpp.

Constructor & Destructor Documentation

FrameTpl()

FrameTpl ( const std::string &  name, const JointIndex  parent, const FrameIndex  previousFrame, const SE3 &  frame_placement, const FrameType  type, const Inertia &  inertia = Inertia::Zero()  )

inline

Builds a frame defined by its name, its joint parent id, its placement and its type.

Parameters

[in]	name	Name of the frame.
[in]	parent	Index of the parent joint in the kinematic tree.
[in]	previousFrame	Index of the parent frame in the kinematic tree.
[in]	frame_placement	Placement of the frame wrt the parent joint frame.
[in]	type	The type of the frame, see the enum FrameType.
[in]	inertia	Inertia info attached to the frame.

Definition at line 71 of file frame.hpp.

Member Function Documentation

cast()

FrameTpl<NewScalar,Options> cast ( ) const

inline

Returns

An expression of *this with the Scalar type casted to NewScalar.

Definition at line 114 of file frame.hpp.

operator!=()

bool operator!= ( const FrameTpl< S2, O2 > &  other ) const

inline

Returns

true if *this is NOT equal to other.

Definition at line 107 of file frame.hpp.

operator==()

bool operator== ( const FrameTpl< S2, O2 > &  other ) const

inline

Equality comparison operator.

Returns

true if *this is equal to other.

Parameters

[in]

other

The frame to which the current frame is compared.

Definition at line 93 of file frame.hpp.

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The documentation for this struct was generated from the following file:

• include/pinocchio/multibody/frame.hpp