31 #ifndef HPP_PINOCCHIO_JOINT_HH 32 #define HPP_PINOCCHIO_JOINT_HH 37 #include <hpp/util/serialization-fwd.hh> 83 const std::string& name()
const;
92 return currentTransformation(data());
124 std::size_t numberChildJoints()
const;
127 JointPtr_t childJoint(std::size_t rank)
const;
141 void isBounded(
size_type rank,
bool bounded);
179 if (maximalDistanceToParent_ < 0) computeMaximalDistanceToParent();
180 return maximalDistanceToParent_;
186 void computeMaximalDistanceToParent();
200 return jacobian(data(), localFrame);
211 const bool localFrame =
true)
const;
230 std::ostream&
display(std::ostream& os)
const;
248 return (joint ? joint->index() : 0);
256 return index() == other.
index() && robot() == other.
robot();
270 const Model& model()
const;
274 void selfAssert()
const;
289 #endif // HPP_PINOCCHIO_JOINT_HH shared_ptr< const Joint > JointConstPtr_t
Definition: fwd.hh:124
shared_ptr< Body > BodyPtr_t
Definition: fwd.hh:108
Utility functions.
Definition: body.hh:39
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:100
Definition: device-data.hh:51
const Transform3f & currentTransformation() const
Joint transformation.
Definition: joint.hh:91
bool operator==(const Joint &other) const
Definition: joint.hh:255
static size_type index(const JointConstPtr_t &joint)
Definition: joint.hh:247
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:76
matrix_t::Index size_type
Definition: fwd.hh:96
JointIndex jointIndex
Definition: joint.hh:264
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
std::vector< JointIndex > children
Definition: joint.hh:265
bool operator!=(const Joint &other) const
Definition: joint.hh:259
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:368
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
const JointIndex & index() const
Definition: joint.hh:242
JointJacobian_t & jacobian(const bool localFrame=true) const
Definition: joint.hh:199
::pinocchio::JointModelTpl< value_type, 0, JointCollectionTpl > JointModel
Definition: fwd.hh:83
std::ostream & display(std::ostream &os) const
Display joint.
const value_type & maximalDistanceToParent()
Maximal distance of joint origin to parent origin.
Definition: joint.hh:178
Robot with geometric and dynamic pinocchio.
Definition: device.hh:60
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:123
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:119
double value_type
Definition: fwd.hh:50
Definition: collision-object.hh:40
DeviceWkPtr_t devicePtr
Definition: joint.hh:263
::pinocchio::SE3 Transform3f
Definition: fwd.hh:80
Eigen::Ref< const vector_t > vectorIn_t
Definition: fwd.hh:92
DevicePtr_t robot()
Access robot owning the object.
Definition: joint.hh:219
Joint()
Definition: joint.hh:278
~Joint()
Definition: joint.hh:76
::pinocchio::JointIndex JointIndex
Definition: fwd.hh:73
DeviceConstPtr_t robot() const
Access robot owning the object.
Definition: joint.hh:217
std::ostream & display(std::ostream &os, const SE3 &m)
Write a SE3 taking into account the indentation.
value_type maximalDistanceToParent_
Definition: joint.hh:262
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:150