FrameTpl< _Scalar, _Options > Struct Template Reference

A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...

#include <multibody/frame.hpp>

Public Types
enum	{ Options = _Options }
typedef pinocchio::JointIndex	JointIndex
typedef _Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
	FrameTpl ()
	Default constructor of a frame.
	FrameTpl (const std::string &name, const JointIndex parent, const FrameIndex previousFrame, const SE3 &frame_placement, const FrameType type)
	Builds a frame defined by its name, its joint parent id, its placement and its type. More...
template<typename NewScalar >
FrameTpl< NewScalar, Options >	cast () const
template<typename S2 , int O2>
bool	operator== (const FrameTpl< S2, O2 > &other) const

Public Attributes
std::string	name
	Name of the frame.
JointIndex	parent
	Index of the parent joint.
SE3	placement
	Placement of the frame wrt the parent joint.
FrameIndex	previousFrame
	Index of the previous frame.
FrameType	type
	Type of the frame.

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::FrameTpl< _Scalar, _Options >

A Plucker coordinate frame attached to a parent joint inside a kinematic tree.

Definition at line 31 of file multibody/frame.hpp.

Constructor & Destructor Documentation

FrameTpl ( const std::string &  name, const JointIndex  parent, const FrameIndex  previousFrame, const SE3 &  frame_placement, const FrameType  type  )

inline

Builds a frame defined by its name, its joint parent id, its placement and its type.

Parameters

[in]	name	Name of the frame.
[in]	parent	Index of the parent joint in the kinematic tree.
[in]	previousFrame	Index of the parent frame in the kinematic tree.
[in]	frame_placement	Placement of the frame wrt the parent joint frame.
[in]	type	The type of the frame, see the enum FrameType

Definition at line 53 of file multibody/frame.hpp.

Member Function Documentation

FrameTpl<NewScalar,Options> cast ( ) const

inline

Returns

An expression of *this with the Scalar type casted to NewScalar.

Definition at line 82 of file multibody/frame.hpp.

References FrameTpl< _Scalar, _Options >::name, FrameTpl< _Scalar, _Options >::parent, FrameTpl< _Scalar, _Options >::placement, FrameTpl< _Scalar, _Options >::previousFrame, and FrameTpl< _Scalar, _Options >::type.

bool operator== ( const FrameTpl< S2, O2 > &  other ) const

inline

Returns

true if *this and other matches and have the same parent, name and type.

Parameters

[in]

other

The frame to which the current frame is compared.

Definition at line 71 of file multibody/frame.hpp.

References FrameTpl< _Scalar, _Options >::name, FrameTpl< _Scalar, _Options >::parent, FrameTpl< _Scalar, _Options >::placement, FrameTpl< _Scalar, _Options >::previousFrame, and FrameTpl< _Scalar, _Options >::type.

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The documentation for this struct was generated from the following file:

• multibody/frame.hpp