Inheritance diagram for ModelItem< Derived >:

Collaboration diagram for ModelItem< Derived >:

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Public Types
enum	{ Options = traits<Derived>::Options }

typedef traits< Derived >::Scalar	Scalar

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
	ModelItem ()
	Default constructor of ModelItem.

	ModelItem (const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &frame_placement)
	Builds a kinematic element defined by its name, its joint parent id, its parent frame id and its placement. More...

bool	operator== (const ModelItem &other) const

Public Attributes
std::string	name
	Name of the kinematic element.

FrameIndex	parentFrame
	Index of the parent frame. More...

JointIndex	parentJoint
	Index of the parent joint.

SE3	placement
	Position of kinematic element in parent joint frame.

Detailed Description

template<typename Derived>
struct pinocchio::ModelItem< Derived >

Definition at line 13 of file model-item.hpp.

Constructor & Destructor Documentation

◆ ModelItem()

ModelItem	(	const std::string &	name,
		const JointIndex	parent_joint,
		const FrameIndex	parent_frame,
		const SE3 &	frame_placement
	)

inline

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

Parameters

[in]	name	Name of the frame.
[in]	parent_joint	Index of the parent joint in the kinematic tree.
[in]	parent_frame	Index of the parent frame in the kinematic tree.
[in]	frame_placement	Placement of the frame wrt the parent joint frame.

Definition at line 61 of file model-item.hpp.

Member Data Documentation

◆ parentFrame

FrameIndex parentFrame

Index of the parent frame.

Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) as it is mostly used as a documentation of the tree, or in third-party libraries. The URDF parser of Pinocchio is setting it to the proper value according to the urdf link-joint tree. In particular, anchor joints of URDF would cause parent frame to be different to joint frame.

Definition at line 36 of file model-item.hpp.

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

include/pinocchio/multibody/model-item.hpp

Public Types

Public Member Functions