model-item.hpp

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//
// Copyright (c) 2021-2022 INRIA
//
 
#ifndef __pinocchio_multibody_model_item_hpp__
#define __pinocchio_multibody_model_item_hpp__
 
#include "pinocchio/multibody/fwd.hpp"
 
namespace pinocchio
{
  template<typename Derived>
  struct ModelItem : NumericalBase<Derived>
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    typedef typename traits<Derived>::Scalar Scalar;
    enum
    {
      Options = traits<Derived>::Options
    };
    typedef SE3Tpl<Scalar, Options> SE3;
 
    std::string name;
 
    JointIndex parentJoint;
 
    FrameIndex parentFrame;
 
    SE3 placement;
 
    ModelItem()
    : name()
    , parentJoint()
    , parentFrame()
    , placement()
    {
    }
 
    ModelItem(
      const std::string & name,
      const JointIndex parent_joint,
      const FrameIndex parent_frame,
      const SE3 & frame_placement)
    : name(name)
    , parentJoint(parent_joint)
    , parentFrame(parent_frame)
    , placement(frame_placement)
    {
    }
 
    bool operator==(const ModelItem & other) const
    {
      return name == other.name && parentJoint == other.parentJoint
             && parentFrame == other.parentFrame && placement == other.placement;
    }
  };
} // namespace pinocchio
 
#endif // ifndef __pinocchio_multibody_model_item_hpp__