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...

PINOCCHIO_DEPRECATED void	humanoid2d (Model &model)
	Create a random humanoid tree with 2d limbs. \ deprecated This function has been replaced by the non-random pinocchio::humanoid function.

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>
PINOCCHIO_DEPRECATED void	humanoidSimple (ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
	Alias of humanoidRandom, for compatibility reasons. 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

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).

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).

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).

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

inline

Alias of humanoidRandom, for compatibility reasons.

Deprecated:: use pinocchio::humanoid or pinocchio::humanoidRandom instead.

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.

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).

Functions

Detailed Description

Function Documentation