pinocchio::FrameTpl< _Scalar, _Options > Struct Template Reference

A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...

#include <frame.hpp>

Public Types
enum	{ Options = _Options }
typedef InertiaTpl< Scalar, Options >	Inertia
typedef _Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
template<typename NewScalar >
FrameTpl< NewScalar, Options >	cast () const
	FrameTpl ()
	Default constructor of a frame. More...
	FrameTpl (const std::string &name, const JointIndex parent, const FrameIndex previousFrame, const SE3 &frame_placement, const FrameType type, const Inertia &inertia=Inertia::Zero())
	Builds a frame defined by its name, its joint parent id, its placement and its type. More...
template<typename S2 , int O2>
bool	operator!= (const FrameTpl< S2, O2 > &other) const
template<typename S2 , int O2>
bool	operator== (const FrameTpl< S2, O2 > &other) const
	Equality comparison operator. More...

Public Attributes
Inertia	inertia
	Inertia information attached to the frame. This inertia will be appended to the inertia supported by the parent joint when calling ModelTpl::addFrame. It won't be processed otherwise by the algorithms. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::JointIndex	JointIndex
std::string	name
	Name of the frame. More...
JointIndex	parent
	Index of the parent joint. More...
SE3	placement
	Placement of the frame wrt the parent joint. More...
FrameIndex	previousFrame
	Index of the previous frame. More...
FrameType	type
	Type of the frame. More...

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::FrameTpl< _Scalar, _Options >

A Plucker coordinate frame attached to a parent joint inside a kinematic tree.

Definition at line 41 of file src/multibody/frame.hpp.

Member Typedef Documentation

Inertia

template<typename _Scalar, int _Options>

typedef InertiaTpl<Scalar,Options> pinocchio::FrameTpl< _Scalar, _Options >::Inertia

Definition at line 48 of file src/multibody/frame.hpp.

Scalar

template<typename _Scalar, int _Options>

typedef _Scalar pinocchio::FrameTpl< _Scalar, _Options >::Scalar

Definition at line 46 of file src/multibody/frame.hpp.

SE3

template<typename _Scalar, int _Options>

typedef SE3Tpl<Scalar,Options> pinocchio::FrameTpl< _Scalar, _Options >::SE3

Definition at line 47 of file src/multibody/frame.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Enumerator
Options

Definition at line 45 of file src/multibody/frame.hpp.

Constructor & Destructor Documentation

FrameTpl() [1/2]

template<typename _Scalar, int _Options>

pinocchio::FrameTpl< _Scalar, _Options >::FrameTpl ( )

inline

Default constructor of a frame.

Definition at line 53 of file src/multibody/frame.hpp.

FrameTpl() [2/2]

template<typename _Scalar, int _Options>

pinocchio::FrameTpl< _Scalar, _Options >::FrameTpl ( const std::string &  name, const JointIndex  parent, const FrameIndex  previousFrame, const SE3 &  frame_placement, const FrameType  type, const Inertia &  inertia = Inertia::Zero()  )

inline

Builds a frame defined by its name, its joint parent id, its placement and its type.

Parameters

[in]	name	Name of the frame.
[in]	parent	Index of the parent joint in the kinematic tree.
[in]	previousFrame	Index of the parent frame in the kinematic tree.
[in]	frame_placement	Placement of the frame wrt the parent joint frame.
[in]	type	The type of the frame, see the enum FrameType.
[in]	inertia	Inertia info attached to the frame.

Definition at line 71 of file src/multibody/frame.hpp.

Member Function Documentation

cast()

template<typename _Scalar, int _Options>

template<typename NewScalar >

FrameTpl<NewScalar,Options> pinocchio::FrameTpl< _Scalar, _Options >::cast ( ) const

inline

Returns

An expression of *this with the Scalar type casted to NewScalar.

Definition at line 114 of file src/multibody/frame.hpp.

operator!=()

template<typename _Scalar, int _Options>

template<typename S2 , int O2>

bool pinocchio::FrameTpl< _Scalar, _Options >::operator!= ( const FrameTpl< S2, O2 > &  other ) const

inline

Returns

true if *this is NOT equal to other.

Definition at line 107 of file src/multibody/frame.hpp.

operator==()

template<typename _Scalar, int _Options>

template<typename S2 , int O2>

bool pinocchio::FrameTpl< _Scalar, _Options >::operator== ( const FrameTpl< S2, O2 > &  other ) const

inline

Equality comparison operator.

Returns

true if *this is equal to other.

Parameters

[in]

other

The frame to which the current frame is compared.

Definition at line 93 of file src/multibody/frame.hpp.

Member Data Documentation

inertia

template<typename _Scalar, int _Options>

Inertia pinocchio::FrameTpl< _Scalar, _Options >::inertia

Inertia information attached to the frame. This inertia will be appended to the inertia supported by the parent joint when calling ModelTpl::addFrame. It won't be processed otherwise by the algorithms.

Definition at line 146 of file src/multibody/frame.hpp.

JointIndex

template<typename _Scalar, int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::JointIndex pinocchio::FrameTpl< _Scalar, _Options >::JointIndex

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

name

template<typename _Scalar, int _Options>

std::string pinocchio::FrameTpl< _Scalar, _Options >::name

Name of the frame.

Definition at line 129 of file src/multibody/frame.hpp.

parent

template<typename _Scalar, int _Options>

JointIndex pinocchio::FrameTpl< _Scalar, _Options >::parent

Index of the parent joint.

Definition at line 132 of file src/multibody/frame.hpp.

placement

template<typename _Scalar, int _Options>

SE3 pinocchio::FrameTpl< _Scalar, _Options >::placement

Placement of the frame wrt the parent joint.

Definition at line 138 of file src/multibody/frame.hpp.

previousFrame

template<typename _Scalar, int _Options>

FrameIndex pinocchio::FrameTpl< _Scalar, _Options >::previousFrame

Index of the previous frame.

Definition at line 135 of file src/multibody/frame.hpp.

type

template<typename _Scalar, int _Options>

FrameType pinocchio::FrameTpl< _Scalar, _Options >::type

Type of the frame.

Definition at line 141 of file src/multibody/frame.hpp.

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The documentation for this struct was generated from the following file:

• src/multibody/frame.hpp