Template Struct ModelItem

Inheritance Relationships

Base Type

Struct Documentation

template<typename Derived>
struct ModelItem : public pinocchio::NumericalBase<Derived>

Public Types

Values:

enumerator Options
typedef SE3Tpl<Scalar, Options> SE3

Public Functions

inline ModelItem()

Default constructor of ModelItem.

inline ModelItem(const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &frame_placement)

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

Parameters:
  • name[in] Name of the frame.

  • parent_joint[in] Index of the parent joint in the kinematic tree.

  • parent_frame[in] Index of the parent frame in the kinematic tree.

  • frame_placement[in] Placement of the frame wrt the parent joint frame.

inline bool operator==(const ModelItem &other) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::Scalar Scalar
std::string name

Name of the kinematic element.

JointIndex parentJoint

Index of the parent joint.

FrameIndex parentFrame

Index of the parent frame.

Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) as it is mostly used as a documentation of the tree, or in third-party libraries. The URDF parser of Pinocchio is setting it to the proper value according to the urdf link-joint tree. In particular, anchor joints of URDF would cause parent frame to be different to joint frame.

SE3 placement

Position of kinematic element in parent joint frame.