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.