31 #ifndef HPP_PINOCCHIO_FRAME_HH 32 #define HPP_PINOCCHIO_FRAME_HH 60 const std::string& name()
const;
94 Frame parentFrame()
const;
97 bool isRootFrame()
const;
120 return devicePtr_.lock();
125 return devicePtr_.lock();
129 virtual std::ostream&
display(std::ostream& os)
const;
136 const ::pinocchio::Frame&
pinocchio()
const;
141 DeviceWkPtr_t devicePtr_;
143 std::vector<FrameIndex> children_;
150 const Model& model()
const;
154 void selfAssert()
const;
164 #endif // HPP_PINOCCHIO_FRAME_HH Utility functions.
Definition: body.hh:39
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:100
Definition: device-data.hh:51
DevicePtr_t robot()
Access robot owning the object.
Definition: frame.hh:123
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:76
Robot frame.
Definition: frame.hh:42
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
JointJacobian_t jacobian() const
Definition: frame.hh:77
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:364
virtual std::ostream & display(std::ostream &os) const
Display frame.
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
const FrameIndex & index() const
Definition: frame.hh:134
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:74
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:123
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:119
DeviceConstPtr_t robot() const
Access robot owning the object.
Definition: frame.hh:118
Definition: collision-object.hh:40
::pinocchio::SE3 Transform3f
Definition: fwd.hh:80
~Frame()
Definition: frame.hh:53
const std::vector< FrameIndex > & children()
Definition: frame.hh:99
std::ostream & display(std::ostream &os, const SE3 &m)
Write a SE3 taking into account the indentation.