#include <generic.hpp>

Public Types
enum	{ Options = _Options }

typedef std::map< std::string, ConfigVectorType >	ConfigVectorMap
	Map between a string (key) and a configuration vector. More...

typedef VectorXs	ConfigVectorType
	Dense vectorized version of a joint configuration vector. More...

typedef DataTpl< Scalar, Options, JointCollectionTpl >	Data

typedef ForceTpl< Scalar, Options >	Force

typedef FrameTpl< Scalar, Options >	Frame

typedef pinocchio::FrameIndex	FrameIndex

typedef pinocchio::GeomIndex	GeomIndex

typedef pinocchio::Index	Index

typedef std::vector< Index >	IndexVector

typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointDataTpl< Scalar, Options, JointCollectionTpl >	JointData

typedef pinocchio::JointIndex	JointIndex

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModel

typedef MotionTpl< Scalar, Options >	Motion

typedef SE3Tpl< Scalar, Options >	SE3

typedef VectorXs	TangentVectorType
	Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc). More...

typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs

Public Member Functions
FrameIndex	addBodyFrame (const std::string &body_name, const JointIndex &parentJoint, const SE3 &body_placement=SE3::Identity(), int parentFrame=-1)
	Add a body to the frame tree. More...

FrameIndex	addFrame (const Frame &frame, const bool append_inertia=true)
	Adds a frame to the kinematic tree. The inertia stored within the frame will be happened to the inertia supported by the joint (frame.parentJoint). More...

JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name)
	Add a joint to the kinematic tree with infinite bounds. More...

JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config)

JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config, const VectorXs &friction, const VectorXs &damping)

FrameIndex	addJointFrame (const JointIndex &joint_index, int previous_frame_index=-1)
	Add a joint to the frame tree. More...

void	appendBodyToJoint (const JointIndex joint_index, const Inertia &Y, const SE3 &body_placement=SE3::Identity())
	Append a body to a given joint of the kinematic tree. More...

template<typename NewScalar >
CastType< NewScalar, ModelTpl >::type	cast () const

bool	check () const
	Run check(fusion::list) with DEFAULT_CHECKERS as argument. More...

template<typename D >
bool	check (const AlgorithmCheckerBase< D > &checker=AlgorithmCheckerBase< D >()) const
	Check the validity of the attributes of Model with respect to the specification of some algorithms. More...

bool	check (const Data &data) const
	Run checkData on data and current model. More...

bool	existBodyName (const std::string &name) const
	Check if a body given by its name exists. More...

bool	existFrame (const std::string &name, const FrameType &type=(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)) const
	Checks if a frame given by its name exists. More...

bool	existJointName (const std::string &name) const
	Check if a joint given by its name exists. More...

FrameIndex	getBodyId (const std::string &name) const
	Return the index of a body given by its name. More...

FrameIndex	getFrameId (const std::string &name, const FrameType &type=(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)) const
	Returns the index of a frame given by its name. More...

JointIndex	getJointId (const std::string &name) const
	Return the index of a joint given by its name. More...

std::vector< bool >	hasConfigurationLimit ()
	Check if joints have configuration limits. More...

std::vector< bool >	hasConfigurationLimitInTangent ()
	Check if joints have configuration limits. More...

	ModelTpl ()
	Default constructor. Builds an empty model with no joints. More...

template<typename S2 , int O2>
	ModelTpl (const ModelTpl< S2, O2 > &other)
	Copy constructor by casting. More...

bool	operator!= (const ModelTpl &other) const

bool	operator== (const ModelTpl &other) const
	Equality comparison operator. More...

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (Frame) FrameVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) InertiaVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointData) JointDataVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) SE3Vector

Public Attributes
VectorXs	armature
	Vector of armature values expressed at the joint level This vector may contain the contribution of rotor inertia effects for instance. More...

std::vector< IndexVector >	children
	Vector of children index. Chidren of the ith joint, denoted mu(i) corresponds to the set (i==parents[k] for k in mu(i)). More...

TangentVectorType	damping
	Vector of joint damping parameters. More...

TangentVectorType	effortLimit
	Vector of maximal joint torques. More...

FrameVector	frames
	Vector of operational frames registered on the model. More...

TangentVectorType	friction
	Vector of joint friction parameters. More...

Motion	gravity
	Spatial gravity of the model. More...

std::vector< int >	idx_qs
	Vector of starting index of the ith joint in the configuration space. More...

std::vector< int >	idx_vs
	Starting index of the ith joint in the tangent configuration space. More...

InertiaVector	inertias
	Vector of spatial inertias supported by each joint. More...

SE3Vector	jointPlacements
	Vector of joint placements: placement of a joint i wrt its parent joint frame. More...

JointModelVector	joints
	Vector of joint models. More...

ConfigVectorType	lowerPositionLimit
	Lower joint configuration limit. More...

std::string	name
	Model name. More...

std::vector< std::string >	names
	Name of the joints. More...

int	nbodies
	Number of bodies. More...

int	nframes
	Number of operational frames. More...

int	njoints
	Number of joints. More...

int	nq
	Dimension of the configuration vector representation. More...

std::vector< int >	nqs
	Vector of dimension of the joint configuration subspace. More...

int	nv
	Dimension of the velocity vector space. More...

std::vector< int >	nvs
	Dimension of the ith joint tangent subspace. More...

std::vector< JointIndex >	parents
	Vector of parent joint indexes. The parent of joint i, denoted li, corresponds to li==parents[i]. More...

ConfigVectorMap	referenceConfigurations
	Map of reference configurations, indexed by user given names. More...

TangentVectorType	rotorGearRatio
	Vector of rotor gear ratio parameters. More...

TangentVectorType	rotorInertia
	Vector of rotor inertia parameters. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

std::vector< IndexVector >	subtrees
	Vector of joint subtrees. subtree[j] corresponds to the subtree supported by the joint j. The first element of subtree[j] is the index of the joint j itself. More...

std::vector< IndexVector >	supports
	Vector of joint supports. supports[j] corresponds to the vector of indices of the joints located on the path between joint j and "universe". The first element of supports[j] is "universe", the last one is the index of joint j itself. More...

ConfigVectorType	upperPositionLimit
	Upper joint configuration limit. More...

TangentVectorType	velocityLimit
	Vector of maximal joint velocities. More...

Static Public Attributes
static const Vector3	gravity981
	Default 3D gravity vector (=(0,0,-9.81)). More...

Protected Member Functions
void	addJointIndexToParentSubtrees (const JointIndex joint_id)
	Add the joint_id to its parent subtrees. More...

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 20 of file context/generic.hpp.

Member Typedef Documentation

◆ ConfigVectorMap

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef std::map<std::string, ConfigVectorType> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::ConfigVectorMap

Map between a string (key) and a configuration vector.

Definition at line 90 of file multibody/model.hpp.

◆ ConfigVectorType

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef VectorXs pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::ConfigVectorType

Dense vectorized version of a joint configuration vector.

Definition at line 87 of file multibody/model.hpp.

◆ Data

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef DataTpl<Scalar, Options, JointCollectionTpl> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::Data

Definition at line 58 of file multibody/model.hpp.

◆ Force

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef ForceTpl<Scalar, Options> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::Force

Definition at line 62 of file multibody/model.hpp.

◆ Frame

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef FrameTpl<Scalar, Options> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::Frame

Definition at line 64 of file multibody/model.hpp.

◆ FrameIndex

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::FrameIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::FrameIndex

Definition at line 69 of file multibody/model.hpp.

◆ GeomIndex

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::GeomIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::GeomIndex

Definition at line 68 of file multibody/model.hpp.

◆ Index

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::Index pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::Index

Definition at line 66 of file multibody/model.hpp.

◆ IndexVector

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef std::vector<Index> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::IndexVector

Definition at line 70 of file multibody/model.hpp.

◆ Inertia

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

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

Definition at line 63 of file multibody/model.hpp.

◆ JointCollection

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef JointCollectionTpl<Scalar, Options> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::JointCollection

Definition at line 57 of file multibody/model.hpp.

◆ JointData

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::JointData

Definition at line 73 of file multibody/model.hpp.

◆ JointIndex

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::JointIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::JointIndex

Definition at line 67 of file multibody/model.hpp.

◆ JointModel

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef JointModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::JointModel

Definition at line 72 of file multibody/model.hpp.

◆ Motion

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef MotionTpl<Scalar, Options> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::Motion

Definition at line 61 of file multibody/model.hpp.

◆ SE3

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

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

Definition at line 60 of file multibody/model.hpp.

◆ TangentVectorType

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef VectorXs pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::TangentVectorType

Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). It also handles the notion of co-tangent vector (e.g. torque, etc).

Definition at line 95 of file multibody/model.hpp.

◆ Vector3

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar, 3, 1, Options> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::Vector3

Definition at line 81 of file multibody/model.hpp.

◆ VectorXs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::VectorXs

Definition at line 80 of file multibody/model.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

anonymous enum

Enumerator
Options

Definition at line 52 of file multibody/model.hpp.

Constructor & Destructor Documentation

◆ ModelTpl() [1/2]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::ModelTpl ( )

inline

Default constructor. Builds an empty model with no joints.

Definition at line 200 of file multibody/model.hpp.

◆ ModelTpl() [2/2]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template<typename S2 , int O2>

pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::ModelTpl ( const ModelTpl< S2, O2 > & other )

inlineexplicit

Copy constructor by casting.

Parameters

[in] other model to copy to *this

Definition at line 233 of file multibody/model.hpp.

Member Function Documentation

◆ addBodyFrame()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI FrameIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::addBodyFrame	(	const std::string &	body_name,
		const JointIndex &	parentJoint,
		const SE3 &	body_placement = `SE3::Identity()`,
		int	parentFrame = `-1`
	)

Add a body to the frame tree.

Parameters

[in]	body_name	Name of the body.
[in]	parentJoint	Index of the parent joint.
[in]	body_placement	The relative placement of the body regarding to the parent joint. Set default to the Identity placement.
[in]	parentFrame	Index of the parent frame. If negative, the parent frame is the frame of the parent joint.

Returns: The index of the new frame

◆ addFrame()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI FrameIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::addFrame	(	const Frame &	frame,
		const bool	append_inertia = `true`
	)

Adds a frame to the kinematic tree. The inertia stored within the frame will be happened to the inertia supported by the joint (frame.parentJoint).

Parameters

[in]	frame	The frame to add to the kinematic tree.
[in]	append_inertia	Append the inertia contained in the Frame to the inertia supported by the joint.

Returns: Returns the index of the frame if it has been successfully added or if it already exists in the kinematic tree.

◆ addJoint() [1/3]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI JointIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::addJoint	(	const JointIndex	parent,
		const JointModel &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name
	)

Add a joint to the kinematic tree with infinite bounds.

Remarks: This method does not add a Frame of same name to the vector of frames. Use Model::addJointFrame.; The inertia supported by the joint is set to Zero.; Joints need to be added to the tree in a depth-first order.

Template Parameters

JointModelDerived The type of the joint model.

Parameters

[in]	parent	Index of the parent joint.
[in]	joint_model	The joint model.
[in]	joint_placement	Placement of the joint inside its parent joint.
[in]	joint_name	Name of the joint. If empty, the name is random.

Returns: The index of the new joint.

See also: Model::appendBodyToJoint

◆ addJoint() [2/3]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI JointIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::addJoint	(	const JointIndex	parent,
		const JointModel &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name,
		const VectorXs &	max_effort,
		const VectorXs &	max_velocity,
		const VectorXs &	min_config,
		const VectorXs &	max_config
	)

Parameters

[in]	max_effort	Maximal joint torque.
[in]	max_velocity	Maximal joint velocity.
[in]	min_config	Lower joint configuration.
[in]	max_config	Upper joint configuration.

◆ addJoint() [3/3]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI JointIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::addJoint	(	const JointIndex	parent,
		const JointModel &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name,
		const VectorXs &	max_effort,
		const VectorXs &	max_velocity,
		const VectorXs &	min_config,
		const VectorXs &	max_config,
		const VectorXs &	friction,
		const VectorXs &	damping
	)

Parameters

[in]	friction	Joint friction parameters.
[in]	damping	Joint damping parameters.

◆ addJointFrame()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI FrameIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::addJointFrame	(	const JointIndex &	joint_index,
		int	previous_frame_index = `-1`
	)

Add a joint to the frame tree.

Parameters

[in]	jointIndex	Index of the joint.
[in]	frameIndex	Index of the parent frame. If negative, the parent frame is the frame of the parent joint.

Returns: The index of the new frame

◆ addJointIndexToParentSubtrees()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

void pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::addJointIndexToParentSubtrees ( const JointIndex joint_id )

protected

Add the joint_id to its parent subtrees.

Parameters

[in] joint_id The id of the joint to add to the subtrees

◆ appendBodyToJoint()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::appendBodyToJoint	(	const JointIndex	joint_index,
		const Inertia &	Y,
		const SE3 &	body_placement = `SE3::Identity()`
	)

Append a body to a given joint of the kinematic tree.

Parameters

[in]	joint_index	Index of the supporting joint.
[in]	Y	Spatial inertia of the body.
[in]	body_placement	The relative placement of the body regarding to the parent joint. Set default to the Identity placement.

See also: Model::addJoint

◆ cast()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template<typename NewScalar >

CastType<NewScalar, ModelTpl>::type pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::cast ( ) const

Returns: A new copy of *this with the Scalar type casted to NewScalar.

◆ check() [1/3]

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

bool pinocchio::ModelTpl< Scalar, Options, JointCollectionTpl >::check

inline

Run check(fusion::list) with DEFAULT_CHECKERS as argument.

Definition at line 23 of file default-check.hpp.

◆ check() [2/3]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

template<typename D >

bool pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::check ( const AlgorithmCheckerBase< D > & checker = AlgorithmCheckerBase<D>() ) const

inline

Check the validity of the attributes of Model with respect to the specification of some algorithms.

The method is a template so that the checkers can be defined in each algorithms.

Parameters

[in] checker a class, typically defined in the algorithm module, that validates the attributes of model.

Returns: true if the Model is valid, false otherwise.

Definition at line 461 of file multibody/model.hpp.

◆ check() [3/3]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::check ( const Data & data ) const

Run checkData on data and current model.

Parameters

[in] data to be checked wrt *this.

Returns: true if the data is valid, false otherwise.

◆ existBodyName()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::existBodyName ( const std::string & name ) const

Check if a body given by its name exists.

Parameters

[in] name Name of the body.

Returns: True if the body exists in the kinematic tree.

◆ existFrame()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::existFrame	(	const std::string &	name,
		const FrameType &	type = `(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)`
	)		const

Checks if a frame given by its name exists.

Parameters

[in]	name	Name of the frame.
[in]	type	Type of the frame.

Returns: Returns true if the frame exists.

◆ existJointName()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::existJointName ( const std::string & name ) const

Check if a joint given by its name exists.

Parameters

[in] name Name of the joint.

Returns: True if the joint exists in the kinematic tree.

◆ getBodyId()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

FrameIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::getBodyId ( const std::string & name ) const

Return the index of a body given by its name.

Warning: If no body is found, return the number of elements at time T. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent body)

Parameters

[in] name Name of the body.

Returns: Index of the body.

◆ getFrameId()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

FrameIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::getFrameId	(	const std::string &	name,
		const FrameType &	type = `(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)`
	)		const

Returns the index of a frame given by its name.

See also: Model::existFrame to check if the frame exists or not.

Warning: If no frame is found, returns the size of the vector of Model::frames. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent frame).

Parameters

[in]	name	Name of the frame.
[in]	type	Type of the frame.

Returns: Index of the frame.

◆ getJointId()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

JointIndex pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::getJointId ( const std::string & name ) const

Return the index of a joint given by its name.

Warning: If no joint is found, return the number of elements at time T. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent joint)

Parameters

[in] name Name of the joint.

Returns: Index of the joint.

◆ hasConfigurationLimit()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<bool> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::hasConfigurationLimit ( )

Check if joints have configuration limits.

Returns: Returns list of boolean of size model.nq.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<bool> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::hasConfigurationLimitInTangent ( )

Check if joints have configuration limits.

Returns: Returns list of boolean of size model.nq.

◆ operator!=()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::operator!= ( const ModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Returns: true if *this is NOT equal to other.

Definition at line 252 of file multibody/model.hpp.

◆ operator==()

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::operator== ( const ModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

Equality comparison operator.

Returns: true if *this is equal to other.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/5]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Frame )

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/5]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( Inertia )

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [3/5]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( JointData )

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [4/5]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( JointModel )

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [5/5]

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

typedef pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( SE3 )

Member Data Documentation

◆ armature

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

VectorXs pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::armature

Vector of armature values expressed at the joint level This vector may contain the contribution of rotor inertia effects for instance.

Definition at line 149 of file multibody/model.hpp.

◆ children

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<IndexVector> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::children

Vector of children index. Chidren of the i*th joint, denoted *mu(i) corresponds to the set (i==parents[k] for k in mu(i)).

Definition at line 139 of file multibody/model.hpp.

◆ damping

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::damping

Vector of joint damping parameters.

Definition at line 161 of file multibody/model.hpp.

◆ effortLimit

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::effortLimit

Vector of maximal joint torques.

Definition at line 164 of file multibody/model.hpp.

◆ frames

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

FrameVector pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::frames

Vector of operational frames registered on the model.

Definition at line 176 of file multibody/model.hpp.

◆ friction

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::friction

Vector of joint friction parameters.

Definition at line 158 of file multibody/model.hpp.

◆ gravity

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

Motion pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::gravity

Spatial gravity of the model.

Definition at line 191 of file multibody/model.hpp.

◆ gravity981

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

const Vector3 pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::gravity981

static

Default 3D gravity vector (=(0,0,-9.81)).

Definition at line 194 of file multibody/model.hpp.

◆ idx_qs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::idx_qs

Vector of starting index of the *i*th joint in the configuration space.

Definition at line 122 of file multibody/model.hpp.

◆ idx_vs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::idx_vs

Starting index of the *i*th joint in the tangent configuration space.

Definition at line 128 of file multibody/model.hpp.

◆ inertias

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

InertiaVector pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::inertias

Vector of spatial inertias supported by each joint.

Definition at line 113 of file multibody/model.hpp.

◆ jointPlacements

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

SE3Vector pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::jointPlacements

Vector of joint placements: placement of a joint i wrt its parent joint frame.

Definition at line 116 of file multibody/model.hpp.

◆ joints

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

JointModelVector pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::joints

Vector of joint models.

Definition at line 119 of file multibody/model.hpp.

◆ lowerPositionLimit

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

ConfigVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::lowerPositionLimit

Lower joint configuration limit.

Definition at line 170 of file multibody/model.hpp.

◆ name

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::string pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::name

Model name.

Definition at line 197 of file multibody/model.hpp.

◆ names

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<std::string> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::names

Name of the joints.

Definition at line 142 of file multibody/model.hpp.

◆ nbodies

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

int pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::nbodies

Number of bodies.

Definition at line 107 of file multibody/model.hpp.

◆ nframes

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

int pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::nframes

Number of operational frames.

Definition at line 110 of file multibody/model.hpp.

◆ njoints

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

int pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::njoints

Number of joints.

Definition at line 104 of file multibody/model.hpp.

◆ nq

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

int pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::nq

Dimension of the configuration vector representation.

Definition at line 98 of file multibody/model.hpp.

◆ nqs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::nqs

Vector of dimension of the joint configuration subspace.

Definition at line 125 of file multibody/model.hpp.

◆ nv

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

int pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::nv

Dimension of the velocity vector space.

Definition at line 101 of file multibody/model.hpp.

◆ nvs

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<int> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::nvs

Dimension of the *i*th joint tangent subspace.

Definition at line 131 of file multibody/model.hpp.

◆ parents

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<JointIndex> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::parents

Vector of parent joint indexes. The parent of joint i, denoted li, corresponds to li==parents[i].

Definition at line 135 of file multibody/model.hpp.

◆ referenceConfigurations

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

ConfigVectorMap pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::referenceConfigurations

Map of reference configurations, indexed by user given names.

Definition at line 145 of file multibody/model.hpp.

◆ rotorGearRatio

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::rotorGearRatio

Vector of rotor gear ratio parameters.

Definition at line 155 of file multibody/model.hpp.

◆ rotorInertia

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::rotorInertia

Vector of rotor inertia parameters.

Definition at line 152 of file multibody/model.hpp.

◆ Scalar

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::Scalar

Definition at line 51 of file multibody/model.hpp.

◆ subtrees

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<IndexVector> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::subtrees

Vector of joint subtrees. subtree[j] corresponds to the subtree supported by the joint j. The first element of subtree[j] is the index of the joint j itself.

Definition at line 188 of file multibody/model.hpp.

◆ supports

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

std::vector<IndexVector> pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::supports

Vector of joint supports. supports[j] corresponds to the vector of indices of the joints located on the path between joint j and "universe". The first element of supports[j] is "universe", the last one is the index of joint j itself.

Definition at line 183 of file multibody/model.hpp.

◆ upperPositionLimit

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

ConfigVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::upperPositionLimit

Upper joint configuration limit.

Definition at line 173 of file multibody/model.hpp.

◆ velocityLimit

template<typename _Scalar , int _Options, template< typename, int > class JointCollectionTpl>

TangentVectorType pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >::velocityLimit

Vector of maximal joint velocities.

Definition at line 167 of file multibody/model.hpp.

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl> struct pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >

Member Typedef Documentation

◆ ConfigVectorMap

◆ ConfigVectorType

◆ Data

◆ Force

◆ Frame

◆ FrameIndex

◆ GeomIndex

◆ Index

◆ IndexVector

◆ Inertia

◆ JointCollection

◆ JointData

◆ JointIndex

◆ JointModel

◆ Motion

◆ SE3

◆ TangentVectorType

◆ Vector3

◆ VectorXs

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ModelTpl() [1/2]

◆ ModelTpl() [2/2]

Member Function Documentation

◆ addBodyFrame()

◆ addFrame()

◆ addJoint() [1/3]

◆ addJoint() [2/3]

◆ addJoint() [3/3]

◆ addJointFrame()

◆ addJointIndexToParentSubtrees()

◆ appendBodyToJoint()

◆ cast()

◆ check() [1/3]

◆ check() [2/3]

◆ check() [3/3]

◆ existBodyName()

◆ existFrame()

◆ existJointName()

◆ getBodyId()

◆ getFrameId()

◆ getJointId()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ operator!=()

◆ operator==()

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/5]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/5]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [3/5]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [4/5]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [5/5]

Member Data Documentation

◆ armature

◆ children

◆ damping

◆ effortLimit

◆ frames

◆ friction

◆ gravity

◆ gravity981

◆ idx_qs

◆ idx_vs

◆ inertias

◆ jointPlacements

◆ joints

◆ lowerPositionLimit

◆ name

◆ names

◆ nbodies

◆ nframes

◆ njoints

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::ModelTpl< _Scalar, _Options, JointCollectionTpl >