model-item.hpp
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1 //
2 // Copyright (c) 2021-2022 INRIA
3 //
4 
5 #ifndef __pinocchio_multibody_model_item_hpp__
6 #define __pinocchio_multibody_model_item_hpp__
7 
9 
10 namespace pinocchio
11 {
12  template<typename Derived>
13  struct ModelItem : NumericalBase<Derived>
14  {
15  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
16 
17  typedef typename traits<Derived>::Scalar Scalar;
18  enum
19  {
21  };
23 
25  std::string name;
26 
29 
37 
40 
45  : name()
46  , parentJoint()
47  , parentFrame()
48  , placement()
49  {
50  }
51 
62  const std::string & name,
63  const JointIndex parent_joint,
64  const FrameIndex parent_frame,
65  const SE3 & frame_placement)
66  : name(name)
67  , parentJoint(parent_joint)
68  , parentFrame(parent_frame)
69  , placement(frame_placement)
70  {
71  }
72 
73  bool operator==(const ModelItem & other) const
74  {
75  return name == other.name && parentJoint == other.parentJoint
76  && parentFrame == other.parentFrame && placement == other.placement;
77  }
78  };
79 } // namespace pinocchio
80 
81 #endif // ifndef __pinocchio_multibody_model_item_hpp__
pinocchio::FrameIndex
Index FrameIndex
Definition: multibody/fwd.hpp:28
pinocchio::ModelItem::Scalar
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::Scalar Scalar
Definition: model-item.hpp:17
pinocchio::NumericalBase
Definition: fwd.hpp:89
pinocchio::ModelItem::SE3
SE3Tpl< Scalar, Options > SE3
Definition: model-item.hpp:22
pinocchio::ModelItem::parentJoint
JointIndex parentJoint
Index of the parent joint.
Definition: model-item.hpp:28
pinocchio::ModelItem::operator==
bool operator==(const ModelItem &other) const
Definition: model-item.hpp:73
pinocchio::SE3Tpl< Scalar, Options >
pinocchio::ModelItem
Definition: model-item.hpp:13
pinocchio::ModelItem::ModelItem
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 plac...
Definition: model-item.hpp:61
pinocchio::ModelItem::placement
SE3 placement
Position of kinematic element in parent joint frame.
Definition: model-item.hpp:39
pinocchio::ModelItem::Options
@ Options
Definition: model-item.hpp:20
pinocchio::ModelItem::parentFrame
FrameIndex parentFrame
Index of the parent frame.
Definition: model-item.hpp:36
pinocchio::ModelItem::ModelItem
ModelItem()
Default constructor of ModelItem.
Definition: model-item.hpp:44
pinocchio::JointIndex
Index JointIndex
Definition: multibody/fwd.hpp:26
pinocchio::traits
Common traits structure to fully define base classes for CRTP.
Definition: fwd.hpp:71
fwd.hpp
pinocchio::ModelItem::name
std::string name
Name of the kinematic element.
Definition: model-item.hpp:25
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27


pinocchio
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autogenerated on Sun Dec 22 2024 03:41:11