hpp-pinocchio
4.12.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
|
Go to the documentation of this file.
20 #ifndef HPP_PINOCCHIO_JOINT_COLLECTION_HH
21 #define HPP_PINOCCHIO_JOINT_COLLECTION_HH
23 #include <boost/variant.hpp>
24 #include <boost/variant/recursive_wrapper.hpp>
26 #include "pinocchio/multibody/joint/fwd.hpp"
27 #include "pinocchio/multibody/joint/joint-free-flyer.hpp"
28 #include "pinocchio/multibody/joint/joint-planar.hpp"
29 #include "pinocchio/multibody/joint/joint-prismatic.hpp"
30 #include "pinocchio/multibody/joint/joint-revolute-unaligned.hpp"
31 #if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
32 # include "pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp"
34 #include "pinocchio/multibody/joint/joint-prismatic-unaligned.hpp"
35 #include "pinocchio/multibody/joint/joint-revolute.hpp"
36 #include "pinocchio/multibody/joint/joint-revolute-unbounded.hpp"
39 #include "pinocchio/multibody/joint/joint-translation.hpp"
44 template<
typename _Scalar,
int _Options>
45 struct JointCollectionTpl
51 typedef ::pinocchio::JointModelRevoluteTpl<Scalar,Options,0>
JointModelRX;
52 typedef ::pinocchio::JointModelRevoluteTpl<Scalar,Options,1>
JointModelRY;
53 typedef ::pinocchio::JointModelRevoluteTpl<Scalar,Options,2>
JointModelRZ;
59 typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,0>
JointModelRUBX;
60 typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,1>
JointModelRUBY;
61 typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,2>
JointModelRUBZ;
63 #if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
65 typedef ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> JointModelRevoluteUnboundedUnaligned;
69 typedef ::pinocchio::JointModelPrismaticTpl<Scalar,Options,0>
JointModelPX;
70 typedef ::pinocchio::JointModelPrismaticTpl<Scalar,Options,1>
JointModelPY;
71 typedef ::pinocchio::JointModelPrismaticTpl<Scalar,Options,2>
JointModelPZ;
92 typedef ::pinocchio::JointModelCompositeTpl<Scalar,Options,pinocchio::JointCollectionTpl>
JointModelComposite;
94 typedef boost::variant<
99 #if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
100 , JointModelRevoluteUnboundedUnaligned
110 typedef ::pinocchio::JointDataRevoluteTpl<Scalar,Options,0>
JointDataRX;
111 typedef ::pinocchio::JointDataRevoluteTpl<Scalar,Options,1>
JointDataRY;
112 typedef ::pinocchio::JointDataRevoluteTpl<Scalar,Options,2>
JointDataRZ;
118 typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,0>
JointDataRUBX;
119 typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,1>
JointDataRUBY;
120 typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,2>
JointDataRUBZ;
122 #if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
124 typedef ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl<Scalar,Options> JointDataRevoluteUnboundedUnaligned;
128 typedef ::pinocchio::JointDataPrismaticTpl<Scalar,Options,0>
JointDataPX;
129 typedef ::pinocchio::JointDataPrismaticTpl<Scalar,Options,1>
JointDataPY;
130 typedef ::pinocchio::JointDataPrismaticTpl<Scalar,Options,2>
JointDataPZ;
151 typedef ::pinocchio::JointDataCompositeTpl<Scalar,Options,pinocchio::JointCollectionTpl>
JointDataComposite;
153 typedef boost::variant<
158 #if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
159 , JointDataRevoluteUnboundedUnaligned
175 #endif // HPP_PINOCCHIO_JOINT_COLLECTION_HH
::pinocchio::JointDataRevoluteUnalignedTpl< Scalar, Options > JointDataRevoluteUnaligned
Definition: joint-collection.hh:115
::pinocchio::JointModelPrismaticTpl< Scalar, Options, 0 > JointModelPX
Definition: joint-collection.hh:69
::pinocchio::JointDataRevoluteUnboundedTpl< Scalar, Options, 1 > JointDataRUBY
Definition: joint-collection.hh:119
_Scalar Scalar
Definition: joint-collection.hh:47
::pinocchio::JointModelTranslationTpl< Scalar, Options > JointModelTranslation
Definition: joint-collection.hh:83
::pinocchio::JointModelRevoluteTpl< Scalar, Options, 0 > JointModelRX
Definition: joint-collection.hh:51
::pinocchio::JointDataRevoluteTpl< Scalar, Options, 0 > JointDataRX
Definition: joint-collection.hh:110
::pinocchio::JointDataTranslationTpl< Scalar, Options > JointDataTranslation
Definition: joint-collection.hh:142
JointCollection::JointDataVariant JointDataVariant
Definition: joint-collection.hh:170
::pinocchio::JointDataPrismaticTpl< Scalar, Options, 1 > JointDataPY
Definition: joint-collection.hh:129
::pinocchio::JointModelFreeFlyerTpl< Scalar, Options > JointModelFreeFlyer
Definition: joint-collection.hh:86
::pinocchio::JointDataRevoluteUnboundedTpl< Scalar, Options, 0 > JointDataRUBX
Definition: joint-collection.hh:118
Utility functions.
Definition: body.hh:30
::pinocchio::JointModelCompositeTpl< Scalar, Options, pinocchio::JointCollectionTpl > JointModelComposite
Definition: joint-collection.hh:92
boost::variant< JointDataRX, JointDataRY, JointDataRZ, JointDataFreeFlyer, JointDataPlanar, JointDataRevoluteUnaligned, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataTranslation, JointDataRUBX, JointDataRUBY, JointDataRUBZ > JointDataVariant
Definition: joint-collection.hh:165
::pinocchio::JointDataFreeFlyerTpl< Scalar, Options > JointDataFreeFlyer
Definition: joint-collection.hh:145
::pinocchio::JointModelPrismaticTpl< Scalar, Options, 1 > JointModelPY
Definition: joint-collection.hh:70
::pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 2 > JointModelRUBZ
Definition: joint-collection.hh:61
::pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 1 > JointModelRUBY
Definition: joint-collection.hh:60
::pinocchio::JointDataSphericalZYXTpl< Scalar, Options > JointDataSphericalZYX
Definition: joint-collection.hh:139
::pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 0 > JointModelRUBX
Definition: joint-collection.hh:59
@ Options
Definition: joint-collection.hh:48
::pinocchio::JointDataPrismaticUnalignedTpl< Scalar, Options > JointDataPrismaticUnaligned
Definition: joint-collection.hh:133
::pinocchio::JointModelPrismaticUnalignedTpl< Scalar, Options > JointModelPrismaticUnaligned
Definition: joint-collection.hh:74
::pinocchio::JointDataSphericalTpl< Scalar, Options > JointDataSpherical
Definition: joint-collection.hh:136
::pinocchio::JointModelRevoluteTpl< Scalar, Options, 2 > JointModelRZ
Definition: joint-collection.hh:53
::pinocchio::JointDataPrismaticTpl< Scalar, Options, 0 > JointDataPX
Definition: joint-collection.hh:128
::pinocchio::JointDataRevoluteUnboundedTpl< Scalar, Options, 2 > JointDataRUBZ
Definition: joint-collection.hh:120
::pinocchio::JointDataPrismaticTpl< Scalar, Options, 2 > JointDataPZ
Definition: joint-collection.hh:130
::pinocchio::JointModelPlanarTpl< Scalar, Options > JointModelPlanar
Definition: joint-collection.hh:89
::pinocchio::JointModelRevoluteTpl< Scalar, Options, 1 > JointModelRY
Definition: joint-collection.hh:52
boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelFreeFlyer, JointModelPlanar, JointModelRevoluteUnaligned, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelTranslation, JointModelRUBX, JointModelRUBY, JointModelRUBZ > JointModelVariant
Definition: joint-collection.hh:106
::pinocchio::JointDataRevoluteTpl< Scalar, Options, 1 > JointDataRY
Definition: joint-collection.hh:111
::pinocchio::JointModelPrismaticTpl< Scalar, Options, 2 > JointModelPZ
Definition: joint-collection.hh:71
::pinocchio::JointModelSphericalTpl< Scalar, Options > JointModelSpherical
Definition: joint-collection.hh:77
::pinocchio::JointDataCompositeTpl< Scalar, Options, pinocchio::JointCollectionTpl > JointDataComposite
Definition: joint-collection.hh:151
::pinocchio::JointModelSphericalZYXTpl< Scalar, Options > JointModelSphericalZYX
Definition: joint-collection.hh:80
JointCollection::JointModelVariant JointModelVariant
Definition: joint-collection.hh:169
::pinocchio::JointDataRevoluteTpl< Scalar, Options, 2 > JointDataRZ
Definition: joint-collection.hh:112
Definition: collision-object.hh:31
::pinocchio::JointModelRevoluteUnalignedTpl< Scalar, Options > JointModelRevoluteUnaligned
Definition: joint-collection.hh:56
::pinocchio::JointDataPlanarTpl< Scalar, Options > JointDataPlanar
Definition: joint-collection.hh:148