Template Class UrdfVisitorWithRootJoint

• Defined in File model.hxx

Inheritance Relationships

Base Type

• public pinocchio::urdf::details::UrdfVisitor< Scalar, Options, JointCollectionTpl > (Template Class UrdfVisitor)

Class Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
class UrdfVisitorWithRootJoint : public pinocchio::urdf::details::UrdfVisitor<Scalar, Options, JointCollectionTpl>

Public Types

typedef UrdfVisitor<Scalar, Options, JointCollectionTpl> Base

typedef Base::Inertia Inertia

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model

typedef Model::JointCollection JointCollection

typedef Model::JointModel JointModel

Public Functions

inline UrdfVisitorWithRootJoint(Model &model, const JointModelBase<JointModel> &root_joint)

inline virtual void addRootJoint(const Inertia &Y, const std::string &body_name)

inline virtual void appendBodyToJoint(const FrameIndex fid, const Inertia &Y, const SE3 &placement, const std::string &body_name)

Public Members

JointModel root_joint

Model &model