Template Struct FrameTpl
Defined in File frame.hpp
Inheritance Relationships
Base Type
public pinocchio::ModelItem< FrameTpl< _Scalar, _Options > >
(Template Struct ModelItem)
Struct Documentation
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template<typename _Scalar, int _Options>
struct FrameTpl : public pinocchio::ModelItem<FrameTpl<_Scalar, _Options>> A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
Public Types
Values:
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enumerator Options
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enumerator Options
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typedef InertiaTpl<Scalar, Options> Inertia
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typedef pinocchio::JointIndex JointIndex
Public Functions
- inline PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl ()
Default constructor of a frame.
- inline PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl (const std::string &name, const JointIndex parentJoint, const SE3 &frame_placement, const FrameType type, const Inertia &inertia=Inertia::Zero())
Builds a frame defined by its name, its joint parent id, its placement and its type.
- Parameters:
name – [in] Name of the frame.
parent – [in] Index of the parent joint in the kinematic tree.
frame_placement – [in] Placement of the frame wrt the parent joint frame.
type – [in] The type of the frame, see the enum FrameType.
inertia – [in] Inertia info attached to the frame.
- inline PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl (const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &frame_placement, const FrameType type, const Inertia &inertia=Inertia::Zero())
Builds a frame defined by its name, its joint parent id, its placement and its type.
- Parameters:
name – [in] Name of the frame.
parent – [in] Index of the parent joint in the kinematic tree.
parentFrame – [in] Index of the parent frame in the kinematic tree.
frame_placement – [in] Placement of the frame wrt the parent joint frame.
type – [in] The type of the frame, see the enum FrameType.
inertia – [in] Inertia info attached to the frame.
- inline PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl (const FrameTpl &other)
Copy constructor.
- Parameters:
other – [in] Frame to copy
- template<typename S2, int O2> inline explicit PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS FrameTpl (const FrameTpl< S2, O2 > &other)
Copy constructor by casting.
- Parameters:
other – [in] Frame to copy
- inline PINOCCHIO_COMPILER_DIAGNOSTIC_POP FrameTpl< Scalar, Options > & operator= (const FrameTpl< Scalar, Options > &other)
Copy assignment operator. It needs to be user-define because references cannot be re-assigned during copy.
- Parameters:
other – [in] Frame to copy
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template<typename S2, int O2>
inline bool operator==(const FrameTpl<S2, O2> &other) const Equality comparison operator.
- Parameters:
other – [in] The frame to which the current frame is compared.
- Returns:
true if *this is equal to other.
Public Members
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef FrameTpl< _Scalar, _Options > ModelItemDerived
- PINOCCHIO_DEPRECATED JointIndex & parent
Index of the parent joint.
- Deprecated:
use parentJoint instead
- PINOCCHIO_DEPRECATED FrameIndex & previousFrame
Index of the previous frame.
- Deprecated:
use parentFrame instead
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Inertia inertia
Inertia information attached to the frame. This inertia will be appended to the inertia supported by the parent joint when calling ModelTpl::addFrame. It won’t be processed otherwise by the algorithms.
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std::string name
Name of the kinematic element.
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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.
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JointIndex parentJoint
Index of the parent joint.