Struct BodyFrame

• Defined in File frames.hpp

Struct Documentation

struct BodyFrame

Public Functions

BodyFrame() = default

inline explicit BodyFrame(const pinocchio::Inertia &in)

Public Members

Inertia inertia = Inertia::Identity()

Spatial inertia of the body, expressed at its center of mass (CoM).

Note: If the joint is reversed in the model graph, the body frame pose is kept the same in the model, so this inertia remains valid.

FrameType f_type = FrameType::BODY