Classes | Typedefs | Enumerations | Variables
Multibody

Classes

struct  pinocchio::FrameTpl< _Scalar, _Options >
 A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...
 

Typedefs

typedef DataTpl< context::Scalar, context::Optionspinocchio::Data
 
typedef FrameTpl< context::Scalar, context::Optionspinocchio::Frame
 
typedef Index pinocchio::FrameIndex
 
typedef Index pinocchio::GeomIndex
 
typedef Index pinocchio::JointIndex
 
typedef ModelTpl< context::Scalar, context::Optionspinocchio::Model
 
typedef Index pinocchio::PairIndex
 

Enumerations

enum  pinocchio::Convention { pinocchio::Convention::WORLD = 0, pinocchio::Convention::LOCAL = 1 }
 List of convention to call algorithms. More...
 
enum  pinocchio::KinematicLevel { pinocchio::POSITION = 0, pinocchio::VELOCITY = 1, pinocchio::ACCELERATION = 2 }
 List of Kinematics Level supported by Pinocchio. More...
 
enum  pinocchio::ReferenceFrame { pinocchio::WORLD = 0, pinocchio::LOCAL = 1, pinocchio::LOCAL_WORLD_ALIGNED = 2 }
 Various conventions to express the velocity of a moving frame. More...
 

Variables

PINOCCHIO_COMPILER_DIAGNOSTIC_POP typedef std::size_t pinocchio::Index
 

Detailed Description

Typedef Documentation

◆ Data

Definition at line 34 of file multibody/fwd.hpp.

◆ Frame

Definition at line 31 of file multibody/fwd.hpp.

◆ FrameIndex

Definition at line 28 of file multibody/fwd.hpp.

◆ GeomIndex

Definition at line 27 of file multibody/fwd.hpp.

◆ JointIndex

Definition at line 26 of file multibody/fwd.hpp.

◆ Model

Definition at line 33 of file multibody/fwd.hpp.

◆ PairIndex

Definition at line 29 of file multibody/fwd.hpp.

Enumeration Type Documentation

◆ Convention

enum pinocchio::Convention
strong

List of convention to call algorithms.

The convention will select in witch frame different quantities will be computed.

Enumerator
WORLD 

Quantities will be computed in world frame (e.g. DataTpl::ov will be filled instead of DataTpl::v).

LOCAL 

Quantities will be computed in local frame (e.g. DataTpl::v will be filled instead of DataTpl::ov).

Definition at line 73 of file multibody/fwd.hpp.

◆ KinematicLevel

List of Kinematics Level supported by Pinocchio.

Enumerator
POSITION 

Refers to the quantities related to the 0-order kinematics (joint placements, center of mass position, etc.).

VELOCITY 

Refers to the quantities related to the 1st-order kinematics (joint velocities, center of mass velocity, etc.).

ACCELERATION 

Refers to the quantities related to the 2nd-order kinematics (joint accelerations, center of mass acceleration, etc.).

Definition at line 59 of file multibody/fwd.hpp.

◆ ReferenceFrame

Various conventions to express the velocity of a moving frame.

The velocity of a moving frame is uniquely defined by the velocity of a point $P$ of the frame and the angular velocity of the frame. Several conventions exist in pinocchio depending on the point $P$ we choose and on the basis in which the above velocities are projected.

Enumerator
WORLD 

$P$ is the point coinciding with the origin of the world frame and the velocities are projected in the basis of the world frame.

LOCAL 

$P$ is the origin of the moving frame and the velocities are projected in the basis of the moving frame.

LOCAL_WORLD_ALIGNED 

$P$ is the origin of the moving frame and the velocities are projected in the basis of the world frame.

Definition at line 46 of file multibody/fwd.hpp.

Variable Documentation

◆ Index

PINOCCHIO_COMPILER_DIAGNOSTIC_POP typedef std::size_t pinocchio::Index

Definition at line 22 of file multibody/fwd.hpp.



pinocchio
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autogenerated on Thu Jun 13 2024 02:40:53