Multibody

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

Typedefs
typedef DataTpl< double >	pinocchio::Data
typedef FrameTpl< double >	pinocchio::Frame
typedef Index	pinocchio::FrameIndex
typedef Index	pinocchio::GeomIndex
typedef std::size_t	pinocchio::Index
typedef Index	pinocchio::JointIndex
typedef ModelTpl< double >	pinocchio::Model
typedef Index	pinocchio::PairIndex

Enumerations
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 }
	List of Reference Frames supported by Pinocchio. More...

Detailed Description

Typedef Documentation

Data

typedef DataTpl<double> pinocchio::Data

Definition at line 36 of file src/multibody/fwd.hpp.

Frame

typedef FrameTpl<double> pinocchio::Frame

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

FrameIndex

typedef Index pinocchio::FrameIndex

Definition at line 30 of file src/multibody/fwd.hpp.

GeomIndex

typedef Index pinocchio::GeomIndex

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

Index

typedef std::size_t pinocchio::Index

Definition at line 25 of file src/multibody/fwd.hpp.

JointIndex

typedef Index pinocchio::JointIndex

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

Model

typedef ModelTpl<double> pinocchio::Model

Definition at line 35 of file src/multibody/fwd.hpp.

PairIndex

typedef Index pinocchio::PairIndex

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

Enumeration Type Documentation

KinematicLevel

enum pinocchio::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 54 of file src/multibody/fwd.hpp.

ReferenceFrame

enum pinocchio::ReferenceFrame

List of Reference Frames supported by Pinocchio.

Enumerator
WORLD	The WORLD frame convention corresponds to the frame concident with the Universe/Inertial frame but moving with the moving part (Joint, Frame, etc.).
LOCAL	The LOCAL frame convention corresponds to the frame directly attached to the moving part (Joint, Frame, etc.) where the coordinates basis matches the local coordinates system associated with the moving part. It also called the BODY representation in the litterature.
LOCAL_WORLD_ALIGNED	The LOCAL_WORLD_ALIGNED frame convention corresponds to the frame centered on the moving part (Joint, Frame, etc.) but with axes aligned with the frame of the Universe. This a MIXED representation betwenn the LOCAL and the WORLD conventions.

Definition at line 44 of file src/multibody/fwd.hpp.