pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
FrameTpl< _Scalar, _Options > Struct Template Reference

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

#include <multibody/frame.hpp>

Collaboration diagram for FrameTpl< _Scalar, _Options >:

Public Types

enum  { Options = _Options }
 
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)
 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
 

Public Attributes

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 31 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 
)
inline

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

Parameters
[in]nameName of the frame.
[in]parentIndex of the parent joint in the kinematic tree.
[in]previousFrameIndex of the parent frame in the kinematic tree.
[in]frame_placementPlacement of the frame wrt the parent joint frame.
[in]typeThe type of the frame, see the enum FrameType

Definition at line 53 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 82 of file frame.hpp.

◆ operator==()

bool operator== ( const FrameTpl< S2, O2 > &  other) const
inline
Returns
true if *this and other matches and have the same parent, name and type.
Parameters
[in]otherThe frame to which the current frame is compared.

Definition at line 71 of file frame.hpp.


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