Inheritance diagram for ModelTpl< _Scalar, _Options, JointCollectionTpl >:

Collaboration diagram for ModelTpl< _Scalar, _Options, JointCollectionTpl >:

[legend]

Public Types
enum	{ Options = _Options }

typedef std::map< std::string, ConfigVectorType >	ConfigVectorMap
	Map between a string (key) and a configuration vector.

typedef VectorXs	ConfigVectorType
	Dense vectorized version of a joint configuration vector.

typedef DataTpl< Scalar, Options, JointCollectionTpl >	Data

typedef ForceTpl< Scalar, Options >	Force

typedef FrameTpl< Scalar, Options >	Frame

typedef pinocchio::FrameIndex	FrameIndex

typedef pinocchio::GeomIndex	GeomIndex

typedef pinocchio::Index	Index

typedef std::vector< Index >	IndexVector

typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointDataTpl< Scalar, Options, JointCollectionTpl >	JointData

typedef pinocchio::JointIndex	JointIndex

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModel

typedef MotionTpl< Scalar, Options >	Motion

typedef _Scalar	Scalar

typedef SE3Tpl< Scalar, Options >	SE3

typedef VectorXs	TangentVectorType
	Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).

typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs

Public Types inherited from NumericalBase< ModelTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< ModelTpl< _Scalar, _Options, JointCollectionTpl > >::Scalar	Scalar

Public Member Functions
	ModelTpl ()
	Default constructor. Builds an empty model with no joints.

template<typename S2 , int O2>
	ModelTpl (const ModelTpl< S2, O2 > &other)
	Copy constructor by casting. More...

FrameIndex	addBodyFrame (const std::string &body_name, const JointIndex &parentJoint, const SE3 &body_placement=SE3::Identity(), int parentFrame=-1)
	Add a body to the frame tree. More...

FrameIndex	addFrame (const Frame &frame, const bool append_inertia=true)
	Adds a frame to the kinematic tree. The inertia stored within the frame will be happened to the inertia supported by the joint (frame.parentJoint). More...

JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name)
	Add a joint to the kinematic tree with infinite bounds. More...

JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config)

JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config, const VectorXs &friction, const VectorXs &damping)

FrameIndex	addJointFrame (const JointIndex &joint_index, int previous_frame_index=-1)
	Add a joint to the frame tree. More...

void	appendBodyToJoint (const JointIndex joint_index, const Inertia &Y, const SE3 &body_placement=SE3::Identity())
	Append a body to a given joint of the kinematic tree. More...

template<typename NewScalar >
CastType< NewScalar, ModelTpl >::type	cast () const

bool	check () const
	Run check(fusion::list) with DEFAULT_CHECKERS as argument.

template<typename D >
bool	check (const AlgorithmCheckerBase< D > &checker=AlgorithmCheckerBase< D >()) const
	Check the validity of the attributes of Model with respect to the specification of some algorithms. More...

bool	check (const Data &data) const
	Run checkData on data and current model. More...

bool	existBodyName (const std::string &name) const
	Check if a body given by its name exists. More...

bool	existFrame (const std::string &name, const FrameType &type=(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)) const
	Checks if a frame given by its name exists. More...

bool	existJointName (const std::string &name) const
	Check if a joint given by its name exists. More...

FrameIndex	getBodyId (const std::string &name) const
	Return the index of a body given by its name. More...

FrameIndex	getFrameId (const std::string &name, const FrameType &type=(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)) const
	Returns the index of a frame given by its name. More...

JointIndex	getJointId (const std::string &name) const
	Return the index of a joint given by its name. More...

std::vector< bool >	hasConfigurationLimit ()
	Check if joints have configuration limits. More...

std::vector< bool >	hasConfigurationLimitInTangent ()
	Check if joints have configuration limits. More...

bool	operator!= (const ModelTpl &other) const

bool	operator== (const ModelTpl &other) const
	Equality comparison operator. More...

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (Frame) FrameVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) InertiaVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) SE3Vector

Public Member Functions inherited from Serializable< ModelTpl< _Scalar, _Options, JointCollectionTpl > >
void	loadFromBinary (boost::asio::streambuf &container)
	Loads a Derived object from a binary container.

void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file.

void	loadFromBinary (StaticBuffer &container)
	Loads a Derived object from a static binary container.

void	loadFromString (const std::string &str)
	Loads a Derived object from a string.

void	loadFromStringStream (std::istringstream &is)
	Loads a Derived object from a stream string.

void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file.

void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file.

void	saveToBinary (boost::asio::streambuf &container) const
	Saves a Derived object as a binary container.

void	saveToBinary (const std::string &filename) const
	Saves a Derived object as an binary file.

void	saveToBinary (StaticBuffer &container) const
	Saves a Derived object as a static binary container.

std::string	saveToString () const
	Saves a Derived object to a string.

void	saveToStringStream (std::stringstream &ss) const
	Saves a Derived object to a string stream.

void	saveToText (const std::string &filename) const
	Saves a Derived object as a text file.

void	saveToXML (const std::string &filename, const std::string &tag_name) const
	Saves a Derived object as an XML file.

Public Attributes
VectorXs	armature
	Vector of armature values expressed at the joint level This vector may contain the contribution of rotor inertia effects for instance.

std::vector< IndexVector >	children
	Vector of children index. Chidren of the ith joint, denoted mu(i) corresponds to the set (i==parents[k] for k in mu(i)).

TangentVectorType	damping
	Vector of joint damping parameters.

TangentVectorType	effortLimit
	Vector of maximal joint torques.

FrameVector	frames
	Vector of operational frames registered on the model.

TangentVectorType	friction
	Vector of joint friction parameters.

Motion	gravity
	Spatial gravity of the model.

std::vector< int >	idx_qs
	Vector of starting index of the ith joint in the configuration space.

std::vector< int >	idx_vs
	Starting index of the ith joint in the tangent configuration space.

InertiaVector	inertias
	Vector of spatial inertias supported by each joint.

SE3Vector	jointPlacements
	Vector of joint placements: placement of a joint i wrt its parent joint frame.

JointModelVector	joints
	Vector of joint models.

ConfigVectorType	lowerPositionLimit
	Lower joint configuration limit.

std::string	name
	Model name.

std::vector< std::string >	names
	Name of the joints.

int	nbodies
	Number of bodies.

int	nframes
	Number of operational frames.

int	njoints
	Number of joints.

int	nq
	Dimension of the configuration vector representation.

std::vector< int >	nqs
	Vector of dimension of the joint configuration subspace.

int	nv
	Dimension of the velocity vector space.

std::vector< int >	nvs
	Dimension of the ith joint tangent subspace.

std::vector< JointIndex >	parents
	Vector of parent joint indexes. The parent of joint i, denoted li, corresponds to li==parents[i].

ConfigVectorMap	referenceConfigurations
	Map of reference configurations, indexed by user given names.

TangentVectorType	rotorGearRatio
	Vector of rotor gear ratio parameters.

TangentVectorType	rotorInertia
	Vector of rotor inertia parameters.

std::vector< IndexVector >	subtrees
	Vector of joint subtrees. subtree[j] corresponds to the subtree supported by the joint j. The first element of subtree[j] is the index of the joint j itself.

std::vector< IndexVector >	supports
	Vector of joint supports. supports[j] corresponds to the vector of indices of the joints located on the path between joint j and "universe". The first element of supports[j] is "universe", the last one is the index of joint j itself.

ConfigVectorType	upperPositionLimit
	Upper joint configuration limit.

TangentVectorType	velocityLimit
	Vector of maximal joint velocities.

Static Public Attributes
static const Vector3	gravity981
	Default 3D gravity vector (=(0,0,-9.81)).

Protected Member Functions
void	addJointIndexToParentSubtrees (const JointIndex joint_id)
	Add the joint_id to its parent subtrees. More...

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 46 of file model.hpp.

Constructor & Destructor Documentation

◆ ModelTpl()

ModelTpl ( const ModelTpl< S2, O2 > & other )

inlineexplicit

Copy constructor by casting.

Parameters

[in] other model to copy to *this

Definition at line 234 of file model.hpp.

Member Function Documentation

◆ addBodyFrame()

FrameIndex addBodyFrame	(	const std::string &	body_name,
		const JointIndex &	parentJoint,
		const SE3 &	body_placement = `SE3::Identity()`,
		int	parentFrame = `-1`
	)

Add a body to the frame tree.

Parameters

[in]	body_name	Name of the body.
[in]	parentJoint	Index of the parent joint.
[in]	body_placement	The relative placement of the body regarding to the parent joint. Set default to the Identity placement.
[in]	parentFrame	Index of the parent frame. If negative, the parent frame is the frame of the parent joint.

Returns: The index of the new frame

◆ addFrame()

FrameIndex addFrame	(	const Frame &	frame,
		const bool	append_inertia = `true`
	)

Adds a frame to the kinematic tree. The inertia stored within the frame will be happened to the inertia supported by the joint (frame.parentJoint).

Parameters

[in]	frame	The frame to add to the kinematic tree.
[in]	append_inertia	Append the inertia contained in the Frame to the inertia supported by the joint.

Returns: Returns the index of the frame if it has been successfully added or if it already exists in the kinematic tree.

◆ addJoint() [1/3]

JointIndex addJoint	(	const JointIndex	parent,
		const JointModel &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name
	)

Add a joint to the kinematic tree with infinite bounds.

Remarks: This method does not add a Frame of same name to the vector of frames. Use Model::addJointFrame.; The inertia supported by the joint is set to Zero.; Joints need to be added to the tree in a depth-first order.

Template Parameters

JointModelDerived The type of the joint model.

Parameters

[in]	parent	Index of the parent joint.
[in]	joint_model	The joint model.
[in]	joint_placement	Placement of the joint inside its parent joint.
[in]	joint_name	Name of the joint. If empty, the name is random.

Returns: The index of the new joint.

See also: Model::appendBodyToJoint

◆ addJoint() [2/3]

JointIndex addJoint	(	const JointIndex	parent,
		const JointModel &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name,
		const VectorXs &	max_effort,
		const VectorXs &	max_velocity,
		const VectorXs &	min_config,
		const VectorXs &	max_config
	)

Parameters

[in]	max_effort	Maximal joint torque.
[in]	max_velocity	Maximal joint velocity.
[in]	min_config	Lower joint configuration.
[in]	max_config	Upper joint configuration.

◆ addJoint() [3/3]

JointIndex addJoint	(	const JointIndex	parent,
		const JointModel &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name,
		const VectorXs &	max_effort,
		const VectorXs &	max_velocity,
		const VectorXs &	min_config,
		const VectorXs &	max_config,
		const VectorXs &	friction,
		const VectorXs &	damping
	)

Parameters

[in]	friction	Joint friction parameters.
[in]	damping	Joint damping parameters.

◆ addJointFrame()

FrameIndex addJointFrame	(	const JointIndex &	joint_index,
		int	previous_frame_index = `-1`
	)

Add a joint to the frame tree.

Parameters

[in]	jointIndex	Index of the joint.
[in]	frameIndex	Index of the parent frame. If negative, the parent frame is the frame of the parent joint.

Returns: The index of the new frame

◆ addJointIndexToParentSubtrees()

void addJointIndexToParentSubtrees ( const JointIndex joint_id )

protected

Add the joint_id to its parent subtrees.

Parameters

[in] joint_id The id of the joint to add to the subtrees

◆ appendBodyToJoint()

void appendBodyToJoint	(	const JointIndex	joint_index,
		const Inertia &	Y,
		const SE3 &	body_placement = `SE3::Identity()`
	)

Append a body to a given joint of the kinematic tree.

Parameters

[in]	joint_index	Index of the supporting joint.
[in]	Y	Spatial inertia of the body.
[in]	body_placement	The relative placement of the body regarding to the parent joint. Set default to the Identity placement.

See also: Model::addJoint

◆ cast()

CastType<NewScalar, ModelTpl>::type cast ( ) const

Returns: A new copy of *this with the Scalar type casted to NewScalar.

◆ check() [1/2]

bool check ( const AlgorithmCheckerBase< D > & checker = AlgorithmCheckerBase<D>() ) const

inline

Check the validity of the attributes of Model with respect to the specification of some algorithms.

The method is a template so that the checkers can be defined in each algorithms.

Parameters

[in] checker a class, typically defined in the algorithm module, that validates the attributes of model.

Returns: true if the Model is valid, false otherwise.

Definition at line 462 of file model.hpp.

◆ check() [2/2]

bool check ( const Data & data ) const

Run checkData on data and current model.

Parameters

[in] data to be checked wrt *this.

Returns: true if the data is valid, false otherwise.

◆ existBodyName()

bool existBodyName ( const std::string & name ) const

Check if a body given by its name exists.

Parameters

[in] name Name of the body.

Returns: True if the body exists in the kinematic tree.

◆ existFrame()

bool existFrame	(	const std::string &	name,
		const FrameType &	type = `(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)`
	)		const

Checks if a frame given by its name exists.

Parameters

[in]	name	Name of the frame.
[in]	type	Type of the frame.

Returns: Returns true if the frame exists.

◆ existJointName()

bool existJointName ( const std::string & name ) const

Check if a joint given by its name exists.

Parameters

[in] name Name of the joint.

Returns: True if the joint exists in the kinematic tree.

◆ getBodyId()

FrameIndex getBodyId ( const std::string & name ) const

Return the index of a body given by its name.

Warning: If no body is found, return the number of elements at time T. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent body)

Parameters

[in] name Name of the body.

Returns: Index of the body.

◆ getFrameId()

FrameIndex getFrameId	(	const std::string &	name,
		const FrameType &	type = `(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)`
	)		const

Returns the index of a frame given by its name.

See also: Model::existFrame to check if the frame exists or not.

Warning: If no frame is found, returns the size of the vector of Model::frames. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent frame).

Parameters

[in]	name	Name of the frame.
[in]	type	Type of the frame.

Returns: Index of the frame.

◆ getJointId()

JointIndex getJointId ( const std::string & name ) const

Return the index of a joint given by its name.

Warning: If no joint is found, return the number of elements at time T. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent joint)

Parameters

[in] name Name of the joint.

Returns: Index of the joint.

◆ hasConfigurationLimit()

std::vector<bool> hasConfigurationLimit ( )

Check if joints have configuration limits.

Returns: Returns list of boolean of size model.nq.

◆ hasConfigurationLimitInTangent()

std::vector<bool> hasConfigurationLimitInTangent ( )

Check if joints have configuration limits.

Returns: Returns list of boolean of size model.nq.

◆ operator!=()

bool operator!= ( const ModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Returns: true if *this is NOT equal to other.

Definition at line 253 of file model.hpp.

◆ operator==()

bool operator== ( const ModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

Equality comparison operator.

Returns: true if *this is equal to other.

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

include/pinocchio/context/generic.hpp
include/pinocchio/multibody/model.hpp
include/pinocchio/algorithm/default-check.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl> struct pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >

Constructor & Destructor Documentation

◆ ModelTpl()

Member Function Documentation

◆ addBodyFrame()

◆ addFrame()

◆ addJoint() [1/3]

◆ addJoint() [2/3]

◆ addJoint() [3/3]

◆ addJointFrame()

◆ addJointIndexToParentSubtrees()

◆ appendBodyToJoint()

◆ cast()

◆ check() [1/2]

◆ check() [2/2]

◆ existBodyName()

◆ existFrame()

◆ existJointName()

◆ getBodyId()

◆ getFrameId()

◆ getJointId()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ operator!=()

◆ operator==()

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >