Template Struct ModelItem
Defined in File model-item.hpp
Inheritance Relationships
Base Type
public pinocchio::NumericalBase< Derived >
(Template Struct NumericalBase)
Struct Documentation
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template<typename Derived>
struct ModelItem : public pinocchio::NumericalBase<Derived> -
Public Functions
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inline 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 placement.
- Parameters:
name – [in] Name of the frame.
parent_joint – [in] Index of the parent joint in the kinematic tree.
parent_frame – [in] Index of the parent frame in the kinematic tree.
frame_placement – [in] Placement of the frame wrt the parent joint frame.
Public Members
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::Scalar Scalar
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std::string name
Name of the kinematic element.
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JointIndex parentJoint
Index of the parent joint.
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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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inline ModelItem(const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &frame_placement)