20 #ifndef HPP_PINOCCHIO_FRAME_HH
21 # define HPP_PINOCCHIO_FRAME_HH
48 const std::string&
name()
const;
113 virtual std::ostream&
display (std::ostream& os)
const;
128 DeviceWkPtr_t devicePtr_;
130 std::vector<FrameIndex> children_;
137 const Model& model()
const ;
141 void selfAssert()
const;
Robot frame.
Definition: frame.hh:31
Frame parentFrame() const
const FrameIndex & index() const
Definition: frame.hh:118
bool isFixed() const
Returns true if the frame type is ::pinocchio::FIXED_JOINT.
Transform3f currentTransformation(const DeviceData &data) const
Frame transformation.
JointJacobian_t jacobian() const
Definition: frame.hh:65
void positionInParentFrame(const Transform3f &p)
Set position of frame in parent frame.
const ::pinocchio::Frame & pinocchio() const
const std::string & name() const
Get name.
DevicePtr_t robot()
Access robot owning the object.
Definition: frame.hh:110
Frame(DeviceWkPtr_t device, FrameIndex indexInFrameList)
bool isRootFrame() const
Returns true if this frame is the universe frame.
JointJacobian_t jacobian(const DeviceData &data) const
const std::vector< FrameIndex > & children()
Definition: frame.hh:87
DeviceConstPtr_t robot() const
Access robot owning the object.
Definition: frame.hh:108
Transform3f currentTransformation() const
Frame transformation.
virtual std::ostream & display(std::ostream &os) const
Display frame.
Transform3f positionInParentFrame() const
Get (constant) placement of frame in parent frame.
const Transform3f & positionInParentJoint() const
Get (constant) placement of frame in parent joint.
JointPtr_t joint() const
Returns the joint associated to this frame.
~Frame()
Definition: frame.hh:41
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:65
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:63
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:359
::pinocchio::SE3 Transform3f
Definition: fwd.hh:69
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:88
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:107
Utility functions.
Definition: body.hh:30
Definition: collision-object.hh:32
Definition: device-data.hh:42