pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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frames.hpp
1//
2// Copyright (c) 2025 INRIA
3//
4
5#ifndef __pinocchio_parsers_graph_frames_hpp__
6#define __pinocchio_parsers_graph_frames_hpp__
7
8#include "pinocchio/parsers/graph/fwd.hpp"
9
10#include "pinocchio/multibody/frame.hpp"
11
12#include <boost/variant/variant.hpp>
13
14namespace pinocchio
15{
16 namespace graph
17 {
18 struct BodyFrame
19 {
24 Inertia inertia = Inertia::Identity();
25
26 FrameType f_type = FrameType::BODY;
27
28 BodyFrame() = default;
29 explicit BodyFrame(const pinocchio::Inertia & in)
30 : inertia(in)
31 {
32 }
33 };
34
35 struct SensorFrame
36 {
37 FrameType f_type = FrameType::SENSOR;
38
39 SensorFrame() = default;
40 };
41
42 struct OpFrame
43 {
44 FrameType f_type = FrameType::OP_FRAME;
45
46 OpFrame() = default;
47 };
48
49 typedef boost::variant<BodyFrame, SensorFrame, OpFrame> FrameVariant;
50
51 } // namespace graph
52} // namespace pinocchio
53#endif // ifndef __pinocchio_parsers_graph_frames_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::FrameType
FrameType
Enum on the possible types of frames.
Definition frame.hpp:32
pinocchio::BODY
@ BODY
body frame: attached to the collision, inertial or visual properties of a link
Definition frame.hpp:36
pinocchio::SENSOR
@ SENSOR
sensor frame: defined in a sensor element
Definition frame.hpp:38
pinocchio::OP_FRAME
@ OP_FRAME
operational frame: user-defined frames that are defined at runtime
Definition frame.hpp:33
pinocchio::graph::BodyFrame::inertia
Inertia inertia
Spatial inertia of the body, expressed at its center of mass (CoM).
Definition frames.hpp:24