Enum FrameType

• Defined in File frame.hpp

Enum Documentation

enum pinocchio::FrameType

Enum on the possible types of frames.

All other frame types are defined for user convenience and code readability, to also keep track of the information usually stored within URDF models.

See also https://wiki.ros.org/urdf/XML/joint, https://wiki.ros.org/urdf/XML/link and https://wiki.ros.org/urdf/XML/sensor.

Note

In Pinocchio, the FIXED joints are not included in the kinematic tree but we keep track of them via the vector of frames contained in ModelTpl. The JOINT frames are duplicate information with respect to the joint information contained in ModelTpl.

Values:

enumerator OP_FRAME

operational frame: user-defined frames that are defined at runtime

enumerator JOINT

joint frame: attached to the child body of a joint (a.k.a. child frame)

enumerator FIXED_JOINT

fixed joint frame: joint frame but for a fixed joint

enumerator BODY

body frame: attached to the collision, inertial or visual properties of a link

enumerator SENSOR

sensor frame: defined in a sensor element