hpp-pinocchio
4.10.1
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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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;
87 const std::vector<FrameIndex>&
children ()
const
112 virtual std::ostream&
display (std::ostream& os)
const;
122 const ::pinocchio::Frame&
pinocchio()
const;
127 DeviceWkPtr_t devicePtr_;
129 std::vector<FrameIndex> children_;
136 const Model& model()
const ;
140 void selfAssert()
const;
148 #endif // HPP_PINOCCHIO_FRAME_HH
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:65
::pinocchio::SE3 Transform3f
Definition: fwd.hh:69
boost::shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:107
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
Definition: device-data.hh:41
JointJacobian_t jacobian() const
Definition: frame.hh:65
boost::shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
virtual std::ostream & display(std::ostream &os) const
Display frame.
Utility functions.
Definition: body.hh:30
std::ostream & display(std::ostream &os, const SE3 &m)
Write a SE3 taking into account the indentation.
DevicePtr_t robot()
Access robot owning the object.
Definition: frame.hh:109
const FrameIndex & index() const
Definition: frame.hh:117
Robot frame.
Definition: frame.hh:31
const std::vector< FrameIndex > & children() const
Definition: frame.hh:87
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:353
boost::shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
~Frame()
Definition: frame.hh:41
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:88
DeviceConstPtr_t robot() const
Access robot owning the object.
Definition: frame.hh:107
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:63
Definition: collision-object.hh:31