Build simple models. More...
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | humanoid (ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true) |
| Create a 28-DOF kinematic chain of a floating humanoid robot. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | humanoidRandom (ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true) |
| Create a humanoid kinematic tree with 6-DOF limbs and random joint placements. More... | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
| void | manipulator (ModelTpl< Scalar, Options, JointCollectionTpl > &model) |
| Create a 6-DOF kinematic chain shoulder-elbow-wrist. More... | |
Build simple models.
| void pinocchio::buildModels::humanoid | ( | ModelTpl< Scalar, Options, JointCollectionTpl > & | model, |
| bool | usingFF = true |
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| ) |
Create a 28-DOF kinematic chain of a floating humanoid robot.
The kinematic chain has four 6-DOF limbs shoulder-elbow-wrist, one 2-DOF torso, one 2-DOF neck. The float joint is either a JointModelFreeFloating (with nq=7 and nv=6), or a composite joint with a JointModelTranslation and a roll-pitch-yaw joint JointModelSphericalZYX (with total nq=nv=6). Using a free-floating or a composite joint is decided by the boolean usingFF.
| model | model, typically given empty, where the kinematic chain is added. |
| usingFF | if True, implement the chain with a plain JointModelFreeFloating; if False, uses a composite joint. This changes the size of the configuration space (35 vs 34). |
| void pinocchio::buildModels::humanoidRandom | ( | ModelTpl< Scalar, Options, JointCollectionTpl > & | model, |
| bool | usingFF = true |
||
| ) |
Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
This method is only meant to be used in unittest. Due to random placement and masses, the resulting model is likely to not correspond to any physically-plausible model. You may want to consider pinocchio::humanoid and pinocchio::humanoidGeometries functions that rather define a plain and non-random model.
| model | model, typically given empty, where the kinematic chain is added. |
| usingFF | if True, implement the chain with a plain JointModelFreeFloating; if False, uses a composite joint translation + roll-pitch-yaw. This changes the size of the configuration space (33 vs 32). |
| void pinocchio::buildModels::manipulator | ( | ModelTpl< Scalar, Options, JointCollectionTpl > & | model | ) |
Create a 6-DOF kinematic chain shoulder-elbow-wrist.
| model | model, typically given empty, where the kinematic chain is added. |