Multibody

Classes
struct	DataTpl< _Scalar, _Options, JointCollectionTpl >
struct	FrameTpl< _Scalar, _Options >
	A Plucker coordinate frame attached to a parent joint inside a kinematic tree. More...
struct	ModelTpl< _Scalar, _Options, JointCollectionTpl >

Typedefs
typedef DataTpl< double >	Data
typedef FrameTpl< double >	Frame
typedef Index	FrameIndex
typedef Index	GeomIndex
typedef std::size_t	Index
typedef Index	JointIndex
typedef ModelTpl< double >	Model
typedef Index	PairIndex

Enumerations
enum	KinematicLevel { POSITION = 0, VELOCITY = 1, ACCELERATION = 2 }
	List of Kinematics Level supported by Pinocchio. More...
enum	ReferenceFrame { WORLD = 0, LOCAL = 1, LOCAL_WORLD_ALIGNED = 2 }
	List of Reference Frames supported by Pinocchio. More...

Detailed Description

Enumeration Type Documentation

KinematicLevel

enum KinematicLevel

List of Kinematics Level supported by Pinocchio.

Enumerator
POSITION	Refers to the quantities related to the 0-order kinematics (joint placements, center of mass position, etc.).
VELOCITY	Refers to the quantities related to the 1st-order kinematics (joint velocities, center of mass velocity, etc.).
ACCELERATION	Refers to the quantities related to the 2nd-order kinematics (joint accelerations, center of mass acceleration, etc.).

Definition at line 54 of file fwd.hpp.

ReferenceFrame

enum ReferenceFrame

List of Reference Frames supported by Pinocchio.

Enumerator
WORLD	The WORLD frame convention corresponds to the frame concident with the Universe/Inertial frame but moving with the moving part (Joint, Frame, etc.).
LOCAL	The LOCAL frame convention corresponds to the frame directly attached to the moving part (Joint, Frame, etc.) where the coordinates basis matches the local coordinates system associated with the moving part. It also called the BODY representation in the litterature.
LOCAL_WORLD_ALIGNED	The LOCAL_WORLD_ALIGNED frame convention corresponds to the frame centered on the moving part (Joint, Frame, etc.) but with axes aligned with the frame of the Universe. This a MIXED representation betwenn the LOCAL and the WORLD conventions.

Definition at line 44 of file fwd.hpp.