src/multibody/model.cpp
Go to the documentation of this file.
1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #include "pinocchio/multibody/model.hpp"
6 
7 namespace pinocchio
8 {
9 
10  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI
11  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::ModelTpl();
12 
13  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI JointIndex
14  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::addJoint(
15  const JointIndex, const JointModel &, const SE3 &, const std::string &);
16 
17  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI JointIndex
18  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::addJoint(
19  const JointIndex,
20  const JointModel &,
21  const SE3 &,
22  const std::string &,
23  const context::VectorXs &,
24  const context::VectorXs &,
25  const context::VectorXs &,
26  const context::VectorXs &);
27 
28  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI JointIndex
29  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::addJoint(
30  const JointIndex,
31  const JointModel &,
32  const SE3 &,
33  const std::string &,
34  const context::VectorXs &,
35  const context::VectorXs &,
36  const context::VectorXs &,
37  const context::VectorXs &,
38  const context::VectorXs &,
39  const context::VectorXs &);
40 
41  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI FrameIndex
42  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::addJointFrame(
43  const JointIndex &, int);
44 
45  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
46  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::appendBodyToJoint(
47  const JointIndex, const Inertia &, const SE3 &);
48 
49  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI FrameIndex
50  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::addBodyFrame(
51  const std::string &, const JointIndex &, const SE3 &, int);
52 
53  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI FrameIndex
54  ModelTpl<context::Scalar, context::Options, JointCollectionDefaultTpl>::addFrame(
55  const Frame &, const bool);
56 
57 } // namespace pinocchio
pinocchio::FrameIndex
Index FrameIndex
Definition: multibody/fwd.hpp:28
pinocchio::ModelTpl::ModelTpl
ModelTpl()
Default constructor. Builds an empty model with no joints.
Definition: multibody/model.hpp:223
pinocchio::SE3
context::SE3 SE3
Definition: spatial/fwd.hpp:59
model.hpp
pinocchio::python::VectorXs
context::VectorXs VectorXs
Definition: admm-solver.cpp:30
pinocchio::ModelTpl::addJoint
JointIndex addJoint(const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name)
Add a joint to the kinematic tree with infinite bounds.
pinocchio::ModelTpl::addBodyFrame
FrameIndex addBodyFrame(const std::string &body_name, const JointIndex &parentJoint, const SE3 &body_placement=SE3::Identity(), int parentFrame=-1)
Add a body to the frame tree.
pinocchio::ModelTpl::appendBodyToJoint
void appendBodyToJoint(const JointIndex joint_index, const Inertia &Y, const SE3 &body_placement=SE3::Identity())
Append a body to a given joint of the kinematic tree.
pinocchio::Inertia
context::Inertia Inertia
Definition: spatial/fwd.hpp:64
pinocchio::JointModel
JointModelTpl< context::Scalar > JointModel
Definition: multibody/joint/fwd.hpp:169
pinocchio::ModelTpl::addJointFrame
FrameIndex addJointFrame(const JointIndex &joint_index, int previous_frame_index=-1)
Add a joint to the frame tree.
pinocchio::Frame
FrameTpl< context::Scalar, context::Options > Frame
Definition: multibody/fwd.hpp:31
pinocchio::ModelTpl::addFrame
FrameIndex addFrame(const Frame &frame, const bool append_inertia=true)
Adds a frame to the kinematic tree. The inertia stored within the frame will be happened to the inert...
pinocchio::JointIndex
Index JointIndex
Definition: multibody/fwd.hpp:26
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:33

pinocchio
Author(s):
autogenerated on Wed Apr 16 2025 02:41:50