ModelGraph Struct Reference

Represents multibody model as a bidirectional graph. More...

#include <pinocchio/parsers/graph/model-graph.hpp>

Public Types
typedef boost::graph_traits< Graph >::edge_descriptor	EdgeDesc
typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::directedS, ModelGraphVertex, ModelGraphEdge >	Graph
typedef boost::graph_traits< Graph >::vertex_descriptor	VertexDesc

Public Member Functions
void	addBody (const std::string &vertex_name, const Inertia &inert)
	Add a new body to the graph.
void	addFrame (const std::string &vertex_name, const FrameVariant &frame)
	Add a new vertex to the graph.
void	addGeometries (const std::string &vertex_name, const std::vector< Geometry > &geoms)
void	addGeometry (const std::string &vertex_name, const Geometry &geom)
void	addJoint (const EdgeParameters &params)
	Add edges (joint) to the graph. Since it's a bidirectional graph, edge and its reverse are added to the graph.
void	addJoint (const std::string &joint_name, const JointVariant &joint, const std::string &source_body, const SE3 &source_to_joint, const std::string &target_body, const SE3 &joint_to_target)
	Add edges (joint) to the graph. Since it's a bidirectional graph, edge and its reverse are added to the graph.
void	appendGraph (const ModelGraph &g)
	add all the vertex and edges from a graph to this one. Attention : it does not add an edge between the two, so it will be like having two graph coexisting in this structure.
EdgeBuilder	edgeBuilder ()
	Create an EdgeBuilde. This will allow to use EdgeBuilder interface to have a more flexible edge configuration.
GeometryBuilder	geometryBuilder ()

Public Attributes
Graph	graph
	Boost graph structure that holds the graph structure.
std::unordered_map< std::string, VertexDesc >	name_to_vertex
	Name of the vertexes in the graph. Useful for graph parcours.

Detailed Description

Represents multibody model as a bidirectional graph.

This is an intermediate step before creating a model, that allows more flexibility as to which body will be the root...

Definition at line 91 of file model-graph.hpp.

Member Typedef Documentation

EdgeDesc

typedef boost::graph_traits<Graph>::edge_descriptor EdgeDesc

Definition at line 97 of file model-graph.hpp.

Graph

typedef boost:: adjacency_list<boost::vecS, boost::vecS, boost::directedS, ModelGraphVertex, ModelGraphEdge> Graph

Definition at line 95 of file model-graph.hpp.

VertexDesc

typedef boost::graph_traits<Graph>::vertex_descriptor VertexDesc

Definition at line 96 of file model-graph.hpp.

Member Function Documentation

addBody()

void addBody	(	const std::string &	vertex_name,
		const Inertia &	inert )

Add a new body to the graph.

Parameters

[in]	vertex_name	Name of the vertex
[in]	inert	inertia of the body

addFrame()

void addFrame	(	const std::string &	vertex_name,
		const FrameVariant &	frame )

Add a new vertex to the graph.

Parameters

[in]	vertex_name	Name of the vertex
[in]	frame	which type of frame will be added to the model (op_frame, sensor, body)

addJoint() [1/2]

void addJoint

(

const EdgeParameters &

params

)

Add edges (joint) to the graph. Since it's a bidirectional graph, edge and its reverse are added to the graph.

Parameters

[in]

params

Structure that holds all of the joint parameters

Note

Since it's a bidirectional graph, two edges are added to the graph. Joints and transformation are inverted, to create reverse edge.

addJoint() [2/2]

void addJoint	(	const std::string &	joint_name,
		const JointVariant &	joint,
		const std::string &	source_body,
		const SE3 &	source_to_joint,
		const std::string &	target_body,
		const SE3 &	joint_to_target )

Add edges (joint) to the graph. Since it's a bidirectional graph, edge and its reverse are added to the graph.

Parameters

[in]	joint_name	Name of the edge
[in]	joint	Type of the joint
[in]	source_body	Vertex that is supporting the edge
[in]	source_to_joint	Transformation from supporting vertex to edge
[in]	target_body	Vertex that is supported by edge
[in]	joint_to_target	Transformation from edge to supported vertex

Note

Since it's a bidirectional graph, two edges are added to the graph. Joints and transformation are inverted, to create reverse edge.

appendGraph()

void appendGraph

(

const ModelGraph &

g

)

add all the vertex and edges from a graph to this one. Attention : it does not add an edge between the two, so it will be like having two graph coexisting in this structure.

Parameters

g	graph that will be added

Member Data Documentation

graph

Graph graph

Boost graph structure that holds the graph structure.

Definition at line 158 of file model-graph.hpp.

name_to_vertex

std::unordered_map<std::string, VertexDesc> name_to_vertex

Name of the vertexes in the graph. Useful for graph parcours.

Definition at line 160 of file model-graph.hpp.

---

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

• include/pinocchio/parsers/graph/model-graph.hpp