model-item.hpp

//
// Copyright (c) 2021-2022 INRIA
//

#ifndef __pinocchio_multibody_model_item_hpp__
#define __pinocchio_multibody_model_item_hpp__

#include "pinocchio/multibody/fwd.hpp"

namespace pinocchio
{
 template<typename Derived>
 struct ModelItem : NumericalBase<Derived>
 {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef typename traits<Derived>::Scalar Scalar;
 enum
 {
 Options = traits<Derived>::Options
 };
 typedef SE3Tpl<Scalar, Options> SE3;

 std::string name;

 JointIndex parentJoint;

 FrameIndex parentFrame;

 SE3 placement;

 ModelItem()
 : name()
 , parentJoint()
 , parentFrame()
 , placement()
 {
 }

 ModelItem(
 const std::string & name,
 const JointIndex parent_joint,
 const FrameIndex parent_frame,
 const SE3 & frame_placement)
 : name(name)
 , parentJoint(parent_joint)
 , parentFrame(parent_frame)
 , placement(frame_placement)
 {
 }

 bool operator==(const ModelItem & other) const
 {
 return name == other.name && parentJoint == other.parentJoint
 && parentFrame == other.parentFrame && placement == other.placement;
 }
 };
} // namespace pinocchio

#endif // ifndef __pinocchio_multibody_model_item_hpp__