pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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BodyFrame Struct Reference
Collaboration diagram for BodyFrame:
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Public Member Functions

 BodyFrame (const pinocchio::Inertia &in)

Public Attributes

FrameType f_type = FrameType::BODY
Inertia inertia = Inertia::Identity()
 Spatial inertia of the body, expressed at its center of mass (CoM).

Detailed Description

Definition at line 18 of file frames.hpp.

Constructor & Destructor Documentation

◆ BodyFrame()

BodyFrame(const pinocchio::Inertia &in)
inlineexplicit

Definition at line 29 of file frames.hpp.

Member Data Documentation

◆ f_type

FrameType f_type = FrameType::BODY

Definition at line 26 of file frames.hpp.

◆ inertia

Inertia inertia = Inertia::Identity()

Spatial inertia of the body, expressed at its center of mass (CoM).

Note: If the joint is reversed in the model graph, the body frame pose is kept the same in the model, so this inertia remains valid.

Definition at line 24 of file frames.hpp.

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