Template Function pinocchio::buildModels::humanoidRandom

• Defined in File sample-models.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
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).