5 #ifndef __pinocchio_serialization_frame_hpp__ 6 #define __pinocchio_serialization_frame_hpp__ 8 #include "pinocchio/multibody/frame.hpp" 10 #include "pinocchio/serialization/fwd.hpp" 11 #include "pinocchio/serialization/se3.hpp" 12 #include "pinocchio/serialization/inertia.hpp" 19 template <
class Archive,
typename Scalar,
int Options>
34 template<
typename Scalar,
int Options>
43 #endif // ifndef __pinocchio_serialization_frame_hpp__
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
JointIndex parent
Index of the parent joint.
void serialize(Archive &ar, hpp::fcl::AABB &aabb, const unsigned int)
FrameType type
Type of the frame.
const nvp< typename pinocchio::container::aligned_vector< T >::vector_base > make_nvp(const char *name, pinocchio::container::aligned_vector< T > &t)
SE3 placement
Placement of the frame wrt the parent joint.
Main pinocchio namespace.
Inertia inertia
Inertia information attached to the frame. This inertia will be appended to the inertia supported by ...
std::string name
Name of the frame.
FrameIndex previousFrame
Index of the previous frame.