20 #ifndef HPP_PINOCCHIO_FRAME_HH 21 # define HPP_PINOCCHIO_FRAME_HH 48 const std::string& name()
const;
75 bool isFixed ()
const;
82 Frame parentFrame ()
const;
85 bool isRootFrame ()
const;
113 virtual std::ostream&
display (std::ostream& os)
const;
123 const ::pinocchio::Frame&
pinocchio()
const;
128 DeviceWkPtr_t devicePtr_;
130 std::vector<FrameIndex> children_;
137 const Model& model()
const ;
141 void selfAssert()
const;
149 #endif // HPP_PINOCCHIO_FRAME_HH Utility functions.
Definition: body.hh:30
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:88
Definition: device-data.hh:41
DevicePtr_t robot()
Access robot owning the object.
Definition: frame.hh:110
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:65
Robot frame.
Definition: frame.hh:31
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
JointJacobian_t jacobian() const
Definition: frame.hh:65
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:359
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:118
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:63
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:107
DeviceConstPtr_t robot() const
Access robot owning the object.
Definition: frame.hh:108
Definition: collision-object.hh:31
::pinocchio::SE3 Transform3f
Definition: fwd.hh:69
~Frame()
Definition: frame.hh:41
const std::vector< FrameIndex > & children()
Definition: frame.hh:87
std::ostream & display(std::ostream &os, const SE3 &m)
Write a SE3 taking into account the indentation.