Enum ReferenceFrame

Defined in File fwd.hpp

Enum Documentation

enum pinocchio::ReferenceFrame

Various conventions to express the velocity of a moving frame.

The velocity of a moving frame is uniquely defined by the velocity of a point \(P\) of the frame and the angular velocity of the frame. Several conventions exist in pinocchio depending on the point \(P\) we choose and on the basis in which the above velocities are projected.

Values:

enumerator WORLD: \(P\) is the point coinciding with the origin of the world frame and the velocities are projected in the basis of the world frame.

enumerator LOCAL: \(P\) is the origin of the moving frame and the velocities are projected in the basis of the moving frame.

enumerator LOCAL_WORLD_ALIGNED: \(P\) is the origin of the moving frame and the velocities are projected in the basis of the world frame.