Template Function pinocchio::appendModel(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const ModelTpl<Scalar, Options, JointCollectionTpl>&, const GeometryModel&, const GeometryModel&, const FrameIndex, const SE3Tpl<Scalar, Options>&, ModelTpl<Scalar, Options, JointCollectionTpl>&, GeometryModel&)
Defined in File model.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
void pinocchio::appendModel(const ModelTpl<Scalar, Options, JointCollectionTpl> &modelA, const ModelTpl<Scalar, Options, JointCollectionTpl> &modelB, const GeometryModel &geomModelA, const GeometryModel &geomModelB, const FrameIndex frameInModelA, const SE3Tpl<Scalar, Options> &aMb, ModelTpl<Scalar, Options, JointCollectionTpl> &model, GeometryModel &geomModel) Append a child model into a parent model, after a specific frame given by its index.
- Parameters:
modelA – [in] the parent model.
modelB – [in] the child model.
geomModelA – [in] the parent geometry model.
geomModelB – [in] the child geometry model.
frameInModelA – [in] index of the frame of modelA where to append modelB.
aMb – [in] pose of modelB universe joint (index 0) in frameInModelA.
model – [out] the resulting model.
geomModel – [out] the resulting geometry model.