Multibody

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

Typedefs
typedef DataTpl< context::Scalar, context::Options >	Data
typedef FrameTpl< context::Scalar, context::Options >	Frame
typedef Index	FrameIndex
typedef Index	GeomIndex
typedef Index	JointIndex
typedef ModelTpl< context::Scalar, context::Options >	Model
typedef Index	PairIndex

Enumerations
enum struct	Convention { WORLD = 0 , LOCAL = 1 }
	List of convention to call algorithms. More...
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 }
	Various conventions to express the velocity of a moving frame. More...

Variables
PINOCCHIO_COMPILER_DIAGNOSTIC_POP typedef std::size_t	Index

Detailed Description

Typedef Documentation

Data

typedef DataTpl<context::Scalar, context::Options> Data

Definition at line 34 of file fwd.hpp.

Frame

typedef FrameTpl<context::Scalar, context::Options> Frame

Definition at line 31 of file fwd.hpp.

FrameIndex

typedef Index FrameIndex

Definition at line 28 of file fwd.hpp.

GeomIndex

typedef Index GeomIndex

Definition at line 27 of file fwd.hpp.

JointIndex

typedef Index JointIndex

Definition at line 26 of file fwd.hpp.

Model

typedef ModelTpl<context::Scalar, context::Options> Model

Definition at line 33 of file fwd.hpp.

PairIndex

typedef Index PairIndex

Definition at line 29 of file fwd.hpp.

Enumeration Type Documentation

Convention

enum struct Convention

strong

List of convention to call algorithms.

The convention will select in witch frame different quantities will be computed.

Enumerator
WORLD	Quantities will be computed in world frame (e.g. DataTpl::ov will be filled instead of DataTpl::v).
LOCAL	Quantities will be computed in local frame (e.g. DataTpl::v will be filled instead of DataTpl::ov).

Definition at line 73 of file fwd.hpp.

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 59 of file fwd.hpp.

ReferenceFrame

enum ReferenceFrame

Various conventions to express the velocity of a moving frame.

The velocity of a moving frame is uniquely defined by the velocity of a point of the frame and the angular velocity of the frame. Several conventions exist in pinocchio depending on the point we choose and on the basis in which the above velocities are projected.

Enumerator
WORLD	is the point coinciding with the origin of the world frame and the velocities are projected in the basis of the world frame.
LOCAL	is the origin of the moving frame and the velocities are projected in the basis of the moving frame.
LOCAL_WORLD_ALIGNED	is the origin of the moving frame and the velocities are projected in the basis of the world frame.

Definition at line 46 of file fwd.hpp.

Variable Documentation

Index

PINOCCHIO_COMPILER_DIAGNOSTIC_POP typedef std::size_t Index

Definition at line 25 of file fwd.hpp.